CN113787875A - Mounting base for competition robot and using method thereof - Google Patents
Mounting base for competition robot and using method thereof Download PDFInfo
- Publication number
- CN113787875A CN113787875A CN202111201711.1A CN202111201711A CN113787875A CN 113787875 A CN113787875 A CN 113787875A CN 202111201711 A CN202111201711 A CN 202111201711A CN 113787875 A CN113787875 A CN 113787875A
- Authority
- CN
- China
- Prior art keywords
- damping
- mounting base
- wheel
- collision
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000035939 shock Effects 0.000 claims abstract description 104
- 230000000670 limiting effect Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 121
- 238000010521 absorption reaction Methods 0.000 claims description 55
- 238000009434 installation Methods 0.000 claims description 51
- 238000007789 sealing Methods 0.000 claims description 20
- 230000002829 reductive effect Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 14
- 239000002245 particle Substances 0.000 claims description 13
- 230000003139 buffering effect Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 239000008187 granular material Substances 0.000 claims description 5
- 238000012876 topography Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 31
- 239000000945 filler Substances 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/02—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
- B60G11/10—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/11—Leaf spring
- B60G2202/114—Leaf spring transversally arranged
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mounting base for a competition robot and a using method thereof, wherein the mounting base comprises a mounting base body and a traveling wheel, and the mounting base further comprises the following steps: a rotating plate; a gear case; a drive motor; a rotating shaft; a rotating shaft seat; the spring plate fixing seat is fixedly provided with a spring plate; a limiting frame; a shock absorbing and stabilizing system and an anti-collision assembly; the outer side transmission end of the gear box is connected with the traveling wheel, the inner side transmission end of the gear box is connected with the driving motor, the outer end of the rotating plate is connected with the inner side wall of the gear box, the driving motor is fixedly arranged on the upper surface of the rotating plate, the rotating shaft seat is fixedly arranged on two sides of the inner end of the rotating plate, the rotating shaft sequentially penetrates through the rotating shaft seat and the inner end of the rotating plate to rotatably connect the rotating plate with the mounting base body, the spring plate fixing seat is fixedly arranged on the upper surface of the mounting base body, and one end, far away from the spring plate fixing seat, of the spring plate is abutted to the upper surface of the rotating plate.
Description
Technical Field
The invention relates to an installation base for a competition robot and a using method thereof.
Background
The robot is a machine device capable of automatically executing work, executes actions through human command, preprogramming or intelligent designated principle outline and other modes, has the main function of assisting or replacing human to complete corresponding work, a VEX robot world championship is created in the United states in 2003, attracts more than 40 countries all over the world each year, millions of teenagers participate in selection, and grand consult the honor seats of a total final trial, and the world-level competition aims at promoting education robots, expanding the interests of middle school students and college students in the fields of science, technology, engineering and science, improving and promoting the team cooperation spirit, leadership and problem solving capability of the teenagers, obtaining competition approval for different groups of competition projects at different levels each year, obtaining the students of awards, occupying more advantages in applying for the world-level preschool, and supporting the countries, the intelligent enterprise sponsorship makes the competition have more scale and global recognition, students can mature in basic life skills, cooperation and criticizing thinking, project management, communication and the like through practice of a competition, the visual field is further widened, the potential is excited, in the VEX robot competition, the robot usually meets terrains with different conditions, the running wheel of the existing robot is easy to slip, meanwhile, the existing robot mounting base and the running wheel cannot effectively relieve vibration received by the robot when the robot runs on rugged terrains, so that in the robot competition process, the robot is easy to be influenced by vibration to enable a captured target object to fall off, meanwhile, the vibration is easy to cause the upper layer structure of the robot to be loose, the stability of the robot in the competition process is reduced, and the robot often has a collision phenomenon due to high-speed movement and untimely braking in the competition process, the existing competition robot lacks anti-collision measures, and further causes the robot to lose objects and loose the upper layer structure in the competition process, so that improvement is needed.
Disclosure of Invention
The present invention is directed to solving one of the technical problems of the prior art. The technical scheme of the invention is realized as follows: the utility model provides a match robot is with installation base, includes installation base body and advancing wheel, its characterized in that still includes:
a rotating plate;
a gear case;
a drive motor;
a rotating shaft;
a rotating shaft seat;
the spring plate fixing seat is fixedly provided with a spring plate;
a limiting frame;
wherein, both sides of the mounting base body are provided with a plurality of notches for the traveling wheels and the rotating plate to move up and down, the outer side transmission end of the gear box is connected with the traveling wheel, the inner side transmission end of the gear box is connected with the driving motor, the outer end of the rotating plate is connected with the inner side wall of the gear box, the driving motor is fixedly arranged on the upper surface of the rotating plate, the rotating shaft seats are fixedly arranged at two sides of the inner end of the rotating plate, the rotating shaft sequentially penetrates through the rotating shaft seats and the inner end of the rotating plate to rotatably connect the rotating plate with the mounting base body, the spring plate fixing seat is fixedly arranged on the upper surface of the mounting base body and is positioned on the inner side of the rotating plate, one end of the spring plate far away from the spring plate fixing seat inclines downwards to extend to the upper surface of the rotating plate and is abutted against the upper surface of the rotating plate, the limiting frame is fixedly arranged on the upper surface of the mounting base body and used for limiting the moving range of the gear box.
Further comprising:
the mounting holes are uniformly distributed on the upper surface of the mounting base body.
Preferably: and one end of the spring plate, which is abutted against the upper surface of the rotating plate, is arched.
Further comprising:
the damping stabilizing system consists of a gear box damping column and a traveling wheel damping sleeve;
an anti-collision assembly;
the gearbox shock absorption column is arranged on the limiting frame, the traveling wheel shock absorption sleeve is sleeved on the traveling wheel, and the anti-collision assemblies are arranged on the periphery of the mounting base body.
The gearbox shock strut still includes:
the bottom end of the shock absorption column shell is provided with a sealing cover;
a shock-absorbing column body;
a plurality of spring retainer rings;
a plurality of springs;
a plurality of backing rings;
a plurality of spacer rings;
a plurality of sleeves;
wherein the damping column body is in a step shape with the diameter gradually increasing from top to bottom, the damping column body is movably arranged in the damping column shell, the damping column shell is fixedly arranged on the limiting frame, the sealing cover is provided with a through hole for the damping column body to penetrate out, the lower end of the damping column body penetrates out of the damping column shell through the through hole and is positioned below the limiting frame, a plurality of spring retaining rings are sleeved on the damping column body and are respectively matched with the reducing parts of the damping column body, a plurality of cushion rings are sleeved on the damping column body and are respectively positioned below the spring retaining rings, a plurality of separating rings are sleeved on the damping column body and are respectively positioned below the cushion rings, the outer sides of the separating rings are abutted against the inner wall of the damping column shell so as to separate the inside of the damping column shell into a plurality of damping cavities, a plurality of sleeves are sleeved on the outside of the damping column body and are respectively positioned in the damping cavities, the sleeve is located the inboard of shock attenuation post shell and is located the outside of spring fender ring and backing ring, and a plurality of springs all overlap and establish the outside of shock attenuation post body and be located each shock attenuation chamber respectively.
The travelling wheel shock-absorbing sleeve further comprises:
the damping sleeve comprises a damping sleeve body, wherein an annular damping groove is formed in the damping sleeve body;
wear-resistant shock-absorbing particles;
sealing the tank cover;
tightening the screw;
the damping sleeve body sleeve is arranged on the traveling wheel in a sleeved mode, the wear-resistant damping particles are filled and arranged in the annular damping groove, the filling amount of the wear-resistant damping particles is 90% of the volume of the annular damping groove, a filling opening communicated with the annular damping groove is formed in the side wall of the damping sleeve body, the sealing groove cover is arranged in the filling opening, a sealing pad is arranged between the sealing groove cover and the filling opening, and the set screw penetrates through the sealing groove cover and then is in threaded connection with the damping sleeve body.
The bumper assembly further includes:
the movable blocks are provided with wheel grooves;
a plurality of anti-collision wheels;
a plurality of fixed blocks;
a support plate;
the shock absorption rods are composed of rubber sections and shock absorption ends;
wherein, backup pad and installation base body fixed connection, a plurality of fixed blocks are connected at inboard and fixed block and backup pad upper surface fixed of backup pad along the even interval distribution of circumferencial direction, and a plurality of movable blocks are connected at the outside of backup pad and movable block and backup pad upper surface sliding along the even interval distribution of circumferencial direction, the outer end of movable block is located the backup pad outside, and a plurality of shock attenuation pole evenly distributed are between movable block and fixed block, the shock attenuation end sets up the both ends at the rubber section respectively, the shock attenuation end at rubber section both ends is connected with the lateral wall of the relative one side of movable block and fixed block respectively, and a plurality of crashproof wheels rotate through the rotation of wheel axle and set up in the race, the outer end of crashproof wheel is located the outside of race.
The bumper assembly further includes:
a collision sensor;
rotating the motor;
the collision sensors are arranged on the periphery of the upper surface of the mounting base body, and the rotating motor is arranged at the upper end of the movable block and is in transmission connection with the output end of the rotating motor and the rotating shaft.
The shock attenuation end still includes:
a plurality of elastic columns;
a plurality of damping springs;
a flexible fixing plate;
the inner end of the trapezoid damping block is connected with a second damping spring;
a trapezoidal moving block;
an elastic column protective shell;
the damping device comprises flexible fixing plates, a plurality of elastic columns, a plurality of damping spring protective shells, a plurality of trapezoidal shock absorption blocks, a plurality of second damping springs, a plurality of elastic column fixing plates, a plurality of elastic column, a plurality of second damping springs, a plurality of trapezoidal shock absorption blocks and a plurality of elastic column protective shells.
By adopting the technical scheme, compared with the prior art, the mounting base for the competition robot can ensure that the running wheel is always attached to the ground when the running wheel runs in a rugged and complex terrain through the elastic force of the spring plate, so that the phenomenon of idle running and slipping of the running wheel is reduced, the shock absorption stabilizing system can reduce the shock generated by the running wheel in the running process, improve the stability of the robot in the running process, prevent the hard collision impact generated between the gear box and the limiting frame, reduce the phenomenon that the competition robot loses the target object due to the shock in the competition process, reduce the phenomenon that the upper layer structure of the robot is loose, prevent the impact force generated by collision from directly acting on the robot when the robot has the collision phenomenon, and reduce the phenomenon that the competition robot loses the target object due to the collision in the competition process, further reducing the phenomenon that the upper structure of the robot is loose.
The invention also discloses a use method of the mounting base suitable for the competition robot, which is characterized by comprising the following steps:
s1, placing a mounting base: when the mounting base is not placed on the ground, the rotating plate hangs down under the action of self gravity and is in contact with the mounting base body, after the mounting base is placed on the ground, under the action of the gravity of the mounting base body and the upper layer structure of the mounting base body, the rotating plate rotates upwards and pushes the spring plate to deform the spring plate, the limiting frame limits the rotating range of the rotating plate by limiting the rotating range of the gear box, and the traveling wheel is in a forward traveling state after the rotating plate is unfolded;
s2, moving: thereby rotate through driving motor drive advancing wheel and make the installation base remove, at the removal in-process, the elastic force that the spring board produced through deformation can make and stably laminate between advancing wheel and the ground, thereby the spring board can make the rotor plate rotate downwards through elastic force and make advancing wheel still keep in contact with ground when meetting the pit, reduces the phenomenon that the idle running appears in advancing wheel.
S3, damping: at the installation base removal in-process, the running wheel reciprocates under the effect of spring plate and all the time and the ground between stable laminating when handling rugged topography, when the quick return of running wheel rebound, the gear box return simultaneously can collide with spacing frame, shock attenuation post body in the gear box shock attenuation post when the running wheel return with gear box surface contact, the vibrations that produce when the gear box return are strikeed and are transmitted to on a plurality of springs, carry out multistage buffering through a plurality of springs, reduce the influence of vibrations to the installation base, simultaneously at the in-process of marcing, wear-resisting shock attenuation granule in the running wheel shock attenuation cover can absorb vibration energy through collision friction and generating heat, and utilize self motion trend to balance the running wheel.
S4, collision buffering: when the traveling wheel rotates and drives the installation base to move at a high speed and then brake the installation base and the collision does not occur in time, the anti-collision wheel in the anti-collision assembly can contact with the collision surface and change the collision direction through rotating, the impact force generated by collision is reduced, meanwhile, the shock absorption rod can further absorb the shock impact generated during collision, and the influence of collision on the installation base is reduced.
By adopting the technical scheme, compared with the prior art, the competition robot adopting the method has the advantages that in the advancing process of the installation base, the running wheel can be always attached to the ground, so that the phenomena of idle running and slipping of the running wheel are reduced, the gear box damping column in the damping and stabilizing system can prevent the gear box from generating hard collision impact with the limiting frame in the swinging process, thereby preventing the impact force generated by the rigid collision impact from influencing the robot, reducing the phenomenon that the robot loses a target object due to collision in the competition process, improving the stability of the traveling wheel in the proceeding process by the traveling wheel damping sleeve, further weakening and buffering the vibration generated in the proceeding process, and preventing the collision component from being damaged when the robot is collided, the collision impact force is prevented from directly acting on the robot, and the phenomenon that the robot loses the target object due to collision in the competition process is further reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a cross-sectional schematic view of a mounting base.
FIG. 3 is a schematic view of a gearbox damper post structure.
Fig. 4 is a schematic view of the shock-absorbing sleeve structure of the traveling wheel.
Fig. 5 is a schematic view of a bumper assembly.
Fig. 6 is a schematic view of a shock-absorbing rod structure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1 to 6, the present application provides a mounting base for a competition robot, including a mounting base body 1 and a travel wheel 2, and is characterized by further including:
a rotating plate 3;
a gear case 4;
a drive motor 5;
a rotating shaft 6;
a rotating shaft seat 7;
the spring plate fixing seat 8 is fixedly provided with a spring plate 81 on the spring plate fixing seat 8;
a limiting frame 9;
wherein, both sides of the installation base body 1 are provided with a plurality of notches 101 for the traveling wheel 2 and the rotating plate 3 to move up and down, the outside transmission end of the gear box 4 is connected with the traveling wheel 2, the inside transmission end of the gear box 4 is connected with the driving motor 5, the outer end of the rotating plate 3 is connected with the inner side wall of the gear box 4, the driving motor 5 is fixedly arranged on the upper surface of the rotating plate 3, the rotating shaft seats 7 are fixedly arranged on both sides of the inner end of the rotating plate 3, the rotating shaft 6 sequentially passes through the rotating shaft seats 7 and the inner end of the rotating plate 3 to rotatably connect the rotating plate 3 with the installation base body 1, the spring plate fixing seat 8 is fixedly arranged on the upper surface of the installation base body 1 and is positioned on the inner side of the rotating plate 3, one end of the spring plate 81, which is far away from the spring plate fixing seat 8, inclines downwards to extend to the upper surface of the rotating plate 3 and is abutted to the upper surface of the rotating plate 3, the limiting frame 9 is fixedly arranged on the upper surface of the mounting base body 1 and used for limiting the moving range of the gear box 4.
In the embodiment of the application, when the mounting base is not placed on the ground in the use process, the rotating plate hangs down under the action of self gravity and is contacted with the mounting base body, the traveling wheel is in an inward inclined shape at the moment, after the mounting base is placed on the ground, under the action of gravity of the mounting base body and an upper layer structure of the mounting base body, the rotating plate rotates upwards by taking the rotating shaft as a rotating shaft and pushes the spring plate to deform the spring plate, the limiting frame limits the rotating range of the rotating plate by limiting the rotating range of the gear box, the traveling wheel is in a forward traveling state after the rotating plate is unfolded, the driving motor drives the traveling wheel to rotate through the gear box to enable the mounting base to advance, when the mounting base passes through a pot hole in a complicated rugged terrain, the spring plate downwards presses the rotating plate by elastic force to enable the rotating plate to rotate downwards by taking the rotating shaft as the rotating shaft, thereby make the travelling wheel still can with ground in close contact with when the pot hole, reduced the phenomenon that the idling skidded that the travelling wheel appears, the spring board can weaken the partial vibrations that the mounting plate received through elastic force simultaneously, improved the shock attenuation effect of installation base.
Example 2:
in this embodiment, in addition to the structural features of the foregoing embodiment, the method further includes:
a plurality of mounting holes 102, the mounting holes 102 are evenly distributed on the upper surface of the mounting base body 1.
In the embodiment of the application, adopt foretell match robot to use installation base, in the use, evenly distributed can the person of facilitating the use fix the superstructure of robot on the installation base at a plurality of mounting holes of installation base body upper surface, has improved work efficiency.
Example 3:
in this embodiment, in addition to the structural features of the previous embodiments, the end of the spring plate 81 abutting against the upper surface of the rotating plate 3 is arched.
In this application embodiment, adopt foretell competition robot to use installation base, in the use, the one end of spring board is the frictional force that the arch can reduce spring board and rotor plate butt department, reduces the wearing and tearing of spring board and rotor plate.
Example 4:
in this embodiment, in addition to the structural features of the foregoing embodiment, the method further includes:
the damping and stabilizing system consists of a gear box damping column 10 and a traveling wheel damping sleeve 11;
a bumper assembly 12;
the gearbox shock absorption column 10 is arranged on the limiting frame 9, the traveling wheel shock absorption sleeve 11 is sleeved on the traveling wheel 2, and the anti-collision assemblies 12 are arranged on the periphery of the mounting base body 1.
In the embodiment of the application, adopt foretell competition robot with installation base, in the use, thereby the shock attenuation stable system can reduce the vibrations that the in-process produced was marchd at complicated rugged topography and to the influence of installation base, thereby can be under the effect of spring plate luffing motion when the travelling wheel is through rugged topography and make the gear box luffing motion simultaneously, the gear box shock attenuation post can prevent to appear rigid collision between gear box and the spacing frame and strike the phenomenon that leads to the installation base to receive violent vibrations, travelling wheel shock attenuation cover can improve travelling wheel itself and go in-process shock attenuation effect, anticollision subassembly can rotate at the travelling wheel and drive the high-speed back brake of moving of installation base and when the collision does not reach to appear, change the effect direction of collision impact force, reduce the influence that the collision produced installation base.
Example 5:
in this embodiment, in addition to the structural features of the previous embodiment, the gearbox shock-absorbing column 10 further includes:
the damping column comprises a damping column shell 13, wherein a sealing cover 14 is arranged at the bottom end of the damping column shell 13;
a damper cylinder body 15;
a plurality of snap rings 16;
a plurality of springs 17;
a plurality of backing rings 18;
a plurality of spacer rings 19;
a plurality of sleeves 20;
wherein, the damping column body 15 is in a step shape with the diameter gradually increasing from top to bottom, the damping column body 15 is movably arranged in the damping column shell 13, the damping column shell 13 is fixedly arranged on the limit frame 9, the sealing cover 14 is provided with a through hole for the damping column body 15 to penetrate out, the lower end of the damping column body 15 penetrates out of the damping column shell 13 through the through hole and is positioned below the limit frame 9, a plurality of spring baffle rings 16 are all sleeved on the damping column body 15 and are respectively matched with the variable diameter parts of the damping column body 15, a plurality of backing rings 18 are all sleeved on the damping column body 15 and are respectively positioned below the spring baffle rings 16, a plurality of separating rings 19 are all sleeved on the damping column body 15 and are respectively positioned below the backing rings 18, the outer sides of the separating rings 19 are abutted against the inner wall of the damping column shell 13 so as to separate the inside of the damping column shell 13 into a plurality of damping cavities, the plurality of sleeves 20 are all sleeved outside the shock absorption column body 15 and are respectively located in each shock absorption cavity, the sleeves 20 are located on the inner side of the shock absorption column shell 13 and are located on the outer sides of the spring retaining ring 16 and the backing ring 18, and the plurality of springs 17 are all sleeved outside the shock absorption column body 15 and are respectively located in each shock absorption cavity.
In the embodiment of the application, the mounting base for the competition robot is adopted, when the travelling wheel passes through rugged terrain, the travelling wheel can swing up and down under the action of the spring plate to enable the gear box to swing up and down simultaneously, the gear box rotates upwards along with the rotating plate to collide with the limiting frame, the lower end of the shock absorption column body collides with the gear box before the gear box collides with the limiting frame, the lower end of the shock absorption column body moves upwards after receiving collision impact force, each reducing part on the shock absorption column body moves upwards along with the shock absorption column body to drive the spring baffle rings to move upwards, the spring baffle rings move upwards to extrude the springs to deform the springs to generate elastic force, so that the collision impact force is weakened through the elastic force, the phenomenon that the mounting base is severely vibrated due to rigid collision impact between the gear box and the limiting frame is prevented, and when the travelling wheel passes through the raised terrain, meanwhile, the plurality of springs can disperse impact load caused by collision impact, so that each spring only needs to bear less impact load, the springs with high elastic coefficients are not needed, and the development cost of the competition robot is reduced.
Example 6:
in this embodiment, in addition to the structural features of the previous embodiment, the travel wheel damping sleeve 11 further includes:
the damping sleeve comprises a damping sleeve body 110, wherein an annular damping groove 111 is formed in the damping sleeve body 110;
wear-resistant shock-absorbing particles 112;
a sealing groove cover 113;
a set screw 114;
wherein, the damping sleeve body 110 cover is established on advancing wheel 2, wear-resisting shock attenuation granule 112 is filled and is set up in annular shock attenuation groove 111 and wear-resisting shock attenuation granule 112's packing volume is 90% of annular shock attenuation groove 111 volume, be provided with the filling opening with annular shock attenuation groove 111 intercommunication on the lateral wall of damping sleeve body 110, sealing slot cover 112 sets up in the filling opening, be provided with sealed pad 115 between sealing slot cover 112 and the filling opening, set screw 114 pass behind sealing slot cover 113 with damping sleeve body 110 threaded connection.
In the embodiment of the application, by adopting the mounting base for the competition robot, in the using process, when the travelling wheel generates vibration, the wear-resistant damping particles filled in the annular damping groove of the damping sleeve body always present a movement trend along the vibration direction of the travelling wheel under the action of inertia, thereby reducing the vibration amplitude of the traveling wheel, absorbing and consuming energy generated by vibration by collision friction and heating among the wear-resistant shock absorption particles, further buffering the vibration generated by the traveling wheel in the traveling process, reducing the influence of the vibration on the mounting base, ensuring the mobility of the wear-resistant shock absorption particles and the shock absorption effect of the wear-resistant shock absorption particles when the filling amount of the wear-resistant shock absorption particles is 90 percent of the volume of the annular shock absorption groove, can separate sealed capping and filler hole through dismantling holding screw to replenish wear-resisting shock attenuation granule in to annular shock attenuation groove through the filler hole.
Example 7:
in this embodiment, in addition to the structural features of the previous embodiment, the bumper assembly 12 further includes:
the movable blocks 120 are provided with wheel grooves 121;
a plurality of crash wheels 122;
a plurality of fixed blocks 123;
a support plate 124;
the shock absorption device comprises a plurality of shock absorption rods 21, wherein each shock absorption rod 21 is composed of a rubber section 22 and a shock absorption end 23;
wherein, backup pad 123 and installation base body 1 fixed connection, a plurality of fixed blocks 123 along the even interval distribution of circumferencial direction in inboard and fixed block 123 and backup pad 124 upper surface fixed connection of backup pad 124, a plurality of movable blocks 120 along the even interval distribution of circumferencial direction in the outside of backup pad 124 and movable block 120 and backup pad 124 upper surface sliding connection, the outer end of movable block 120 is located the backup pad 124 outside, and a plurality of shock attenuation pole 21 evenly distributed is between movable block 120 and fixed block 123, shock attenuation end 23 sets up respectively at the both ends of rubber segment 22, the shock attenuation end 23 at rubber segment 22 both ends is connected with the lateral wall of the relative one side of movable block 120 and fixed block 123 respectively, and a plurality of crashproof wheels 122 rotate through wheel pivot 125 and set up in race 121, the outer end of crashproof wheel 122 is located race 121's the outside.
In the embodiment of the application, adopt foretell match robot with installation base, in the use, when the advancing wheel rotates and drives the high-speed back brake that removes of installation base and the collision does not reach to appear, crashproof wheel can with the contact of striking face and change striking direction through rotating, the impact force direct action that prevents the collision and produce is on the installation base, the phenomenon that match robot leads to losing the target object because of the collision in the match process has been reduced and has appeared, simultaneously when the collision appears, the movable block receives the impact force and is close to the fixed block, thereby receive the collision through the shock attenuation pole and strike the buffering to the movable block, prevent that movable block and crashproof wheel from receiving the phenomenon that rigid collision strikes and produce the influence to the installation base, further reduced match robot and in the match process because of the phenomenon appearance that the collision leads to losing the target object.
Example 8:
in this embodiment, in addition to the structural features of the previous embodiment, the bumper assembly 12 further includes:
a crash sensor 126;
a rotating motor 127;
wherein, the collision sensor 126 is arranged around the upper surface of the mounting base body 1, the rotating motor 127 is arranged at the upper end of the movable block 120, and the output end of the rotating motor 127 is in transmission connection with the rotating shaft 125.
In the embodiment of the application, adopt foretell match robot to use installation base, in the use, collision sensor can sense the collision phenomenon in advance when installation base bumps, thereby send the signal of telecommunication for rotating the motor, drive the rotation of wheel pivot through rotating the motor, make the crashproof wheel rotate in advance, the crashproof wheel of pivoted in advance can in time change the striking direction through rotating when the collision takes place, the phenomenon that the impact force direct action that further reduces the collision production appears on installation base, the phenomenon appearance that the match robot leads to losing the target article because of the collision in the match process has been reduced.
Example 9:
in this embodiment, in addition to the structural features of the previous embodiment, the shock absorbing end 23 further includes:
a plurality of resilient posts 231;
a plurality of dampening springs 232;
a flexible fixing plate 233;
the inner end of the trapezoid shock absorption block 234 is connected with a second shock absorption spring 235;
trapezoidal shaped moving block 236;
elastomeric column shielding 237;
the flexible fixing plates 233 are respectively located at two ends of the elastic columns 231, the elastic columns 231 are evenly distributed between the two flexible fixing plates 233 at intervals, the damping springs 232 are distributed between the elastic columns 231, two ends of the damping springs 232 are respectively connected with the side wall of one side, opposite to the two flexible fixing plates 233, of each elastic column protection shell 237 is arranged on the outer side of the corresponding elastic column 231 and located between the two flexible fixing plates 233, the trapezoidal damping blocks 234 are arranged on the outer sides of the elastic column protection shells 237 and the inner ends of the second damping springs 235 are connected with the outer surfaces of the elastic column protection shells 237, the trapezoidal moving blocks 236 are arranged on two sides of the trapezoidal damping blocks 234 and the trapezoidal moving blocks 236 are connected with the elastic column protection shells 237 in a sliding mode, and the trapezoidal damping blocks 234 are evenly distributed on the outer sides of the elastic column protection shells 237 along the circumferential direction.
In the embodiment of the application, by adopting the installation base for the competition robot, in the using process, when the installation base collides, the movable block approaches to the fixed block after receiving impact force, the impact force is transmitted to the shock absorption rod by the movable block, after the shock absorption end receives the impact force, the impact force is transmitted to the plurality of elastic columns and the plurality of shock absorption springs by the flexible fixed plate, the impact force is weakened and buffered by the elastic force generated by the deformation of the elastic columns and the shock absorption springs, meanwhile, the transverse vibration generated by the movable block in the collision process can be transmitted to the trapezoidal shock absorption block, the trapezoidal shock absorption block moves towards the inner side after receiving the impact force, the trapezoidal moving block is extruded towards two sides, the second shock absorption spring is extruded, the second shock absorption spring generates deformation and weakens and buffers the impact force by the elastic force, and the trapezoidal moving block moves towards two sides to convert the transverse impact force into longitudinal impact force, thereby weaken the buffering through second damping spring to impact force, further prevent that movable block and crashproof wheel from receiving the phenomenon that rigid collision impact produced the influence to the installation base, reduced the match robot and leaded to losing the phenomenon appearance of target because of the collision in the match process.
Example 10:
in addition to the structural features of the previous embodiments, the present embodiment further discloses a method for using a mounting base for a racing robot, which is characterized by comprising the following steps:
s1, placing a mounting base: when the mounting base is not placed on the ground, the rotating plate 3 hangs down under the action of self gravity and is in contact with the mounting base body 1, after the mounting base is placed on the ground, under the action of the gravity of the mounting base body 1 and the upper layer structure of the mounting base body, the rotating plate 3 rotates upwards and pushes the spring plate 81 to deform the spring plate 81, the limiting frame 9 limits the rotating range of the rotating plate 3 by limiting the rotating range of the gear box 4, and the advancing wheel 2 is in a forward advancing state after the rotating plate 3 is unfolded;
s2, moving: thereby 2 rotate to make the installation base remove through driving motor 5 drive advancing wheel, at the removal in-process, the elastic force that spring plate 81 produced through deformation can make and stably laminate between advancing wheel 2 and the ground, thereby spring plate 81 can make rotor plate 3 rotate downwards through elastic force and make advancing wheel 2 still keep in contact with ground when meetting the pit, reduces advancing wheel 2 and appears idle phenomenon.
S3, damping: in the moving process of the installation base, the traveling wheel 2 moves up and down under the action of the spring plate 81 when dealing with rugged topography and is stably attached to the ground all the time, when the traveling wheel 2 moves up and returns quickly, the gear box 4 returns simultaneously and collides with the limit frame 9, the shock absorption column body 15 in the gear box shock absorption column 10 is in surface contact with the gear box 4 when the traveling wheel 2 returns, the shock impact generated when the gear box 4 returns is transmitted to the springs 17, the springs 17 are used for multi-stage buffering, the influence of the shock on the installation base is reduced, meanwhile, in the traveling process, the wear-resistant shock absorption particles 112 in the traveling wheel shock absorption sleeve 11 can absorb the vibration energy through collision friction and heating, and the traveling wheel 2 is balanced by utilizing the self movement trend.
S4, collision buffering: when the brake is not in time to collide after the driving wheel 2 rotates to drive the mounting base to move at a high speed, the anti-collision wheel 122 in the anti-collision assembly 12 can contact with the collision surface and change the collision direction through rotation, so that the impact force generated by collision is reduced, meanwhile, the shock absorption rod 21 can further absorb the shock impact generated during collision, and the influence of collision on the mounting base is reduced.
In the embodiment of the application, the mounting base for the competition robot adopting the using method can ensure that the travelling wheel can be always attached to the ground in the travelling process, the phenomena of idle running and slipping of the travelling wheel are reduced, the gear box shock absorption column in the shock absorption stabilizing system can prevent the gear box from generating rigid collision impact with the limiting frame in the swinging process, thereby preventing the impact force generated by the rigid collision impact from influencing the robot, reducing the phenomenon that the robot loses a target object due to collision in the competition process, improving the stability of the traveling wheel in the proceeding process by the traveling wheel damping sleeve, further weakening and buffering the vibration generated in the proceeding process, and preventing the collision component from being damaged when the robot is collided, the collision impact force is prevented from directly acting on the robot, and the phenomenon that the robot loses the target object due to collision in the competition process is further reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a match robot is with installation base, includes installation base body and advancing wheel, its characterized in that still includes:
the rotating plate is used for driving the travelling wheel to turn over;
the outer side transmission end of the gear box is connected with the traveling wheel;
the driving motor is connected with the inner side transmission end of the gear box;
the rotating shaft and the rotating plate are connected with the mounting base body;
a rotating shaft seat;
the spring plate fixing seat is fixedly provided with a spring plate;
the limiting frame is fixedly arranged on the upper surface of the mounting base body;
the utility model discloses a gear box, including installation base body, mounting base body, pivot seat, spring board fixing base body, wherein, the both sides of installation base body all are provided with the breach of a plurality of confession advancing wheel and rotor plate activity from top to bottom, the outer end of rotor plate is connected with the inside wall of gear box, driving motor fixes the upper surface that sets up at the rotor plate, the fixed both sides that set up in the rotor plate of pivot seat, the pivot passes pivot seat and rotor plate inner in proper order and is connected the rotor plate with the rotation of installation base body, the fixed upper surface that sets up at installation base body of spring board fixing base just is located the inboard of rotor plate, the one end slope downwardly extending that the spring board fixing base was kept away from to the spring board extends to the upper surface of rotor plate and with rotor plate upper surface butt, spacing frame is used for restricting gear box home range.
2. A mounting base for a racing robot as recited in claim 1, further comprising:
the mounting holes are uniformly distributed on the upper surface of the mounting base body.
3. A mounting base for a racing robot as claimed in claim 2, wherein: and one end of the spring plate, which is abutted against the upper surface of the rotating plate, is arched.
4. A mounting base for a racing robot as claimed in claim 3, further comprising:
the damping stabilizing system consists of a gear box damping column and a traveling wheel damping sleeve;
an anti-collision assembly;
the gearbox shock absorption column is arranged on the limiting frame, the traveling wheel shock absorption sleeve is sleeved on the traveling wheel, and the anti-collision assemblies are arranged on the periphery of the mounting base body.
5. A mounting base for a racing robot as claimed in claim 4, wherein the gearbox shock post further comprises:
the bottom end of the shock absorption column shell is provided with a sealing cover;
a shock-absorbing column body;
a plurality of spring retainer rings;
a plurality of springs;
a plurality of backing rings;
a plurality of spacer rings;
a plurality of sleeves;
wherein the damping column body is in a step shape with the diameter gradually increasing from top to bottom, the damping column body is movably arranged in the damping column shell, the damping column shell is fixedly arranged on the limiting frame, the sealing cover is provided with a through hole for the damping column body to penetrate out, the lower end of the damping column body penetrates out of the damping column shell through the through hole and is positioned below the limiting frame, a plurality of spring retaining rings are sleeved on the damping column body and are respectively matched with the reducing parts of the damping column body, a plurality of cushion rings are sleeved on the damping column body and are respectively positioned below the spring retaining rings, a plurality of separating rings are sleeved on the damping column body and are respectively positioned below the cushion rings, the outer sides of the separating rings are abutted against the inner wall of the damping column shell so as to separate the inside of the damping column shell into a plurality of damping cavities, a plurality of sleeves are sleeved on the outside of the damping column body and are respectively positioned in the damping cavities, the sleeve is located the inboard of shock attenuation post shell and is located the outside of spring fender ring and backing ring, and a plurality of springs all overlap and establish the outside of shock attenuation post body and be located each shock attenuation chamber respectively.
6. A mounting base for a racing robot as claimed in claim 5, wherein the travel wheel shock-absorbing sleeve further includes:
the damping sleeve comprises a damping sleeve body, wherein an annular damping groove is formed in the damping sleeve body;
wear-resistant shock-absorbing particles;
sealing the tank cover;
tightening the screw;
the damping sleeve body sleeve is arranged on the traveling wheel in a sleeved mode, the wear-resistant damping particles are filled and arranged in the annular damping groove, the filling amount of the wear-resistant damping particles is 90% of the volume of the annular damping groove, a filling opening communicated with the annular damping groove is formed in the side wall of the damping sleeve body, the sealing groove cover is arranged in the filling opening, a sealing pad is arranged between the sealing groove cover and the filling opening, and the set screw penetrates through the sealing groove cover and then is in threaded connection with the damping sleeve body.
7. A mounting base for a racing robot as claimed in claim 4, wherein the bumper assembly further includes:
the movable blocks are provided with wheel grooves;
a plurality of anti-collision wheels;
a plurality of fixed blocks;
a support plate;
the shock absorption rods are composed of rubber sections and shock absorption ends;
wherein, backup pad and installation base body fixed connection, a plurality of fixed blocks are connected at inboard and fixed block and backup pad upper surface fixed of backup pad along the even interval distribution of circumferencial direction, and a plurality of movable blocks are connected at the outside of backup pad and movable block and backup pad upper surface sliding along the even interval distribution of circumferencial direction, the outer end of movable block is located the backup pad outside, and a plurality of shock attenuation pole evenly distributed are between movable block and fixed block, the shock attenuation end sets up the both ends at the rubber section respectively, the shock attenuation end at rubber section both ends is connected with the lateral wall of the relative one side of movable block and fixed block respectively, and a plurality of crashproof wheels rotate through the rotation of wheel axle and set up in the race, the outer end of crashproof wheel is located the outside of race.
8. A mounting base for a racing robot as recited in claim 7, wherein the bumper assembly further comprises:
a collision sensor;
rotating the motor;
the collision sensors are arranged on the periphery of the upper surface of the mounting base body, and the rotating motor is arranged at the upper end of the movable block and is in transmission connection with the output end of the rotating motor and the rotating shaft.
9. A mounting base for a racing robot as claimed in claim 8, wherein the shock absorbing tip further comprises:
a plurality of elastic columns;
a plurality of damping springs;
a flexible fixing plate;
the inner end of the trapezoid damping block is connected with a second damping spring;
a trapezoidal moving block;
an elastic column protective shell;
the damping device comprises flexible fixing plates, a plurality of elastic columns, a plurality of damping spring protective shells, a plurality of trapezoidal shock absorption blocks, a plurality of second damping springs, a plurality of elastic column fixing plates, a plurality of elastic column, a plurality of second damping springs, a plurality of trapezoidal shock absorption blocks and a plurality of elastic column protective shells.
10. Use of a mounting base for a racing robot, as claimed in claim 6 or 9, characterized in that it comprises the following steps:
s1, placing a mounting base: when the mounting base is not placed on the ground, the rotating plate hangs down under the action of self gravity and is in contact with the mounting base body, after the mounting base is placed on the ground, under the action of the gravity of the mounting base body and the upper layer structure of the mounting base body, the rotating plate rotates upwards and pushes the spring plate to deform the spring plate, the limiting frame limits the rotating range of the rotating plate by limiting the rotating range of the gear box, and the traveling wheel is in a forward traveling state after the rotating plate is unfolded;
s2, moving: thereby rotate through driving motor drive advancing wheel and make the installation base remove, at the removal in-process, the elastic force that the spring board produced through deformation can make and stably laminate between advancing wheel and the ground, thereby the spring board can make the rotor plate rotate downwards through elastic force and make advancing wheel still keep in contact with ground when meetting the pit, reduces the phenomenon that the idle running appears in advancing wheel.
S3, damping: at the installation base removal in-process, the running wheel reciprocates under the effect of spring plate and all the time and the ground between stable laminating when handling rugged topography, when the quick return of running wheel rebound, the gear box return simultaneously can collide with spacing frame, shock attenuation post body in the gear box shock attenuation post when the running wheel return with gear box surface contact, the vibrations that produce when the gear box return are strikeed and are transmitted to on a plurality of springs, carry out multistage buffering through a plurality of springs, reduce the influence of vibrations to the installation base, simultaneously at the in-process of marcing, wear-resisting shock attenuation granule in the running wheel shock attenuation cover can absorb vibration energy through collision friction and generating heat, and utilize self motion trend to balance the running wheel.
S4, collision buffering: when the traveling wheel rotates and drives the installation base to move at a high speed and then brake the installation base and the collision does not occur in time, the anti-collision wheel in the anti-collision assembly can contact with the collision surface and change the collision direction through rotating, the impact force generated by collision is reduced, meanwhile, the shock absorption rod can further absorb the shock impact generated during collision, and the influence of collision on the installation base is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111201711.1A CN113787875A (en) | 2021-10-15 | 2021-10-15 | Mounting base for competition robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111201711.1A CN113787875A (en) | 2021-10-15 | 2021-10-15 | Mounting base for competition robot and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113787875A true CN113787875A (en) | 2021-12-14 |
Family
ID=79184894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111201711.1A Pending CN113787875A (en) | 2021-10-15 | 2021-10-15 | Mounting base for competition robot and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113787875A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201661641U (en) * | 2009-08-07 | 2010-12-01 | 浙江名震机械制造有限公司 | Sectional type motorcycle/electric motorcycle shock absorber spring |
| CN105128978A (en) * | 2015-09-21 | 2015-12-09 | 上海未来伙伴机器人有限公司 | Robot chassis and service robot |
| CN105196797A (en) * | 2014-05-26 | 2015-12-30 | 南京专创知识产权服务有限公司 | Nanometer damping tyre |
| CN206385446U (en) * | 2017-01-05 | 2017-08-08 | 中交路桥建设有限公司 | A kind of bridge Shockproof damping device |
| CN211417169U (en) * | 2019-08-08 | 2020-09-04 | 湖南工业大学 | Anti-collision structure for obstacle avoidance trolley |
| CN212497839U (en) * | 2020-05-15 | 2021-02-09 | 合肥卓科智能技术有限公司 | Intelligent robot buffer stop |
| CN112630845A (en) * | 2020-12-31 | 2021-04-09 | 张征宇 | Self-adjusting energy-saving metal detector for deep land resource exploration |
| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
-
2021
- 2021-10-15 CN CN202111201711.1A patent/CN113787875A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201661641U (en) * | 2009-08-07 | 2010-12-01 | 浙江名震机械制造有限公司 | Sectional type motorcycle/electric motorcycle shock absorber spring |
| CN105196797A (en) * | 2014-05-26 | 2015-12-30 | 南京专创知识产权服务有限公司 | Nanometer damping tyre |
| CN105128978A (en) * | 2015-09-21 | 2015-12-09 | 上海未来伙伴机器人有限公司 | Robot chassis and service robot |
| CN206385446U (en) * | 2017-01-05 | 2017-08-08 | 中交路桥建设有限公司 | A kind of bridge Shockproof damping device |
| CN211417169U (en) * | 2019-08-08 | 2020-09-04 | 湖南工业大学 | Anti-collision structure for obstacle avoidance trolley |
| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
| CN212497839U (en) * | 2020-05-15 | 2021-02-09 | 合肥卓科智能技术有限公司 | Intelligent robot buffer stop |
| CN112630845A (en) * | 2020-12-31 | 2021-04-09 | 张征宇 | Self-adjusting energy-saving metal detector for deep land resource exploration |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201660090U (en) | Combined multifunctional pedal | |
| CN205440591U (en) | Mechanism moves away to avoid possible earthquakes on crawler -type removal chassis | |
| CN101718322B (en) | Flexible hanging device of engine | |
| CN113787875A (en) | Mounting base for competition robot and using method thereof | |
| CN102364153B (en) | Bidirectional damper | |
| CN205113493U (en) | Torsional spring hangs mechanism with spring combination absorbing zhi chong | |
| CN201660095U (en) | Flexible suspension structure of engine | |
| CN207750436U (en) | A kind of damper of new automobile | |
| CN211667092U (en) | Shock-absorbing spring foot | |
| CN205677998U (en) | A kind of clutch plate with shock-absorbing function | |
| CN112224323B (en) | Rollover prevention device for electric vehicle | |
| CN108662073A (en) | A kind of rear damping for new-energy automobile | |
| CN215505475U (en) | Damping mechanism for racing model car wheels | |
| CN203230783U (en) | Shock absorber with cushion rubber | |
| CN208719231U (en) | A kind of dust-protection type end cap of damper | |
| CN206929263U (en) | A kind of automobile absorber master carrier | |
| CN104006102B (en) | Multidimensional buffer for construction-vehicle cab | |
| CN202448667U (en) | Flexible axle assembly | |
| CN214565947U (en) | Light middle axle bowl group for high-speed bicycle | |
| CN214648643U (en) | Damping suspension and anti-drop belt crawler-type robot chassis | |
| CN203868223U (en) | Automobile shock absorber assembly | |
| CN215205120U (en) | Driving wheel with damping function | |
| CN207985080U (en) | A kind of cycle frame of front-wheel double damping | |
| CN209813663U (en) | Off-road vehicle chassis with higher trafficability characteristic and stability | |
| CN206958158U (en) | Support meanss on a kind of front shock absorber of automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211214 |
|
| RJ01 | Rejection of invention patent application after publication |