CN115848531A - Wheel type robot with winding turnover mechanism and capable of walking instead of fault - Google Patents
Wheel type robot with winding turnover mechanism and capable of walking instead of fault Download PDFInfo
- Publication number
- CN115848531A CN115848531A CN202310044090.3A CN202310044090A CN115848531A CN 115848531 A CN115848531 A CN 115848531A CN 202310044090 A CN202310044090 A CN 202310044090A CN 115848531 A CN115848531 A CN 115848531A
- Authority
- CN
- China
- Prior art keywords
- wheel
- wire winding
- wire
- seat
- subassembly
- 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.)
- Granted
Links
- 238000004804 winding Methods 0.000 title claims abstract description 225
- 230000007246 mechanism Effects 0.000 title claims abstract description 169
- 230000007306 turnover Effects 0.000 title claims abstract description 74
- 238000006243 chemical reaction Methods 0.000 claims description 23
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 11
- 238000000926 separation method Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 8
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Motorcycle And Bicycle Frame (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of intelligent inspection robots of transformer substations, and particularly discloses a fault-substituted walking wheel type robot with a winding turnover mechanism. Therefore, the problem that the robot is not changed when being maintained in severe environments such as a transformer substation and the like can be solved, the service life of a walking system of the robot can be prolonged, and the reliability of the robot can be improved.
Description
Technical Field
The invention relates to the technical field of intelligent inspection robots of transformer substations, in particular to a fault-substituted walking wheel type robot with a winding turnover mechanism.
Background
The intelligent inspection robot of the transformer substation is mainly used for carrying out autonomous inspection and data acquisition on outdoor equipment of the transformer substation; the polling data is transmitted to a local monitoring background in real time through a wireless communication system, and the functions of data analysis, processing, early warning, warning and the like are completed; and the remote centralized control management of the system is realized through the remote centralized control background.
The intelligent inspection robot for the transformer substation has the functions of autonomous navigation, positioning, charging and inspection, applies the infrared thermal imaging and high-definition video dual-vision combination technology, accurately identifies the current and voltage heating phenomena of various instrument readings and equipment in the transformer substation, finds out equipment defects in time, and improves equipment inspection efficiency. Meanwhile, the abnormal information is timely informed to relevant operation and maintenance personnel through background data analysis, so that the operation and maintenance personnel can timely handle the abnormal problem. The transformer substation has the ubiquitous problems of large equipment quantity and high density; inspecting narrow roads; the road condition of the road is complex and the like. Aiming at the situations, the walking requirements of the intelligent inspection robot have the characteristics of strong power, flexible steering, small turning radius and the like.
However, the original four-wheel differential driving mode has the defects of high steering noise, severe shaking and shortened service life of the robot, once any one of the wheel drives is damaged, the robot is caused to have a fault, and the maintenance is difficult in severe environments such as a transformer substation.
In view of the above, the present invention provides a wheel robot with a winding and folding mechanism for traveling instead of a fault.
Disclosure of Invention
The invention aims to provide a wheel type robot with a winding and folding mechanism for replacing fault walking, aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
wheeled robot of replacing trouble walking with wire winding turns over a mechanism, include vehicle chassis and setting four wheel subassemblies on the vehicle chassis, be provided with rectilinear sliding mechanism and substitute wheel change mechanism on the vehicle chassis, rectilinear sliding mechanism install in the middle of vehicle chassis's bottom, be equipped with on the rectilinear sliding mechanism and rotate change mechanism along the gliding substitute wheel of rectilinear sliding mechanism.
The two wheel assemblies positioned on the front side are connected with first winding turnover mechanisms capable of driving wheels to fold and turn, and the two wheel assemblies positioned on the rear side are connected with second winding turnover mechanisms capable of driving the wheels to fold and turn.
One end of the first winding turnover mechanism is connected to one wheel assembly on the front side, and the other end of the first winding turnover mechanism penetrates through the substitute wheel conversion mechanism to be connected to the other wheel assembly on the front side.
One end of the second winding turnover mechanism is connected to one wheel assembly on the rear side, and the other end of the second winding turnover mechanism penetrates through the other wheel assembly on the rear side and is connected to one wheel assembly on the front side.
When one of the wheels has a fault, the first winding turnover mechanism drives the substitute wheel conversion mechanism to move to one side of the fault wheel, and simultaneously, under the combined action of the first winding turnover mechanism and the second winding turnover mechanism, the fault wheel is turned upwards, the normal wheel is turned downwards, and the substitute wheel conversion mechanism and the normal wheel drive the wheeled robot to walk together.
Further, first wire winding turns over a mechanism and includes first pull wire, wire winding subassembly, first capstan winch and substitute wheel wire winding seat, wire winding subassembly includes first wire winding subassembly and second wire winding subassembly, substitute wheel wire winding seat including set up in substitute wheel wire winding seat and the second substitute wheel wire winding seat of the first substitute wheel wire winding seat that replaces wheel changeover portion mechanism both sides, first capstan winch sets up in one of front side on the wheel subassembly, around having first pull wire on the first capstan winch, just first capstan winch passes through first pull wire is connected first wire winding subassembly, first wire winding subassembly through first pull wire connect in on the first substitute wheel wire winding seat, connect through first pull wire between first substitute wheel wire winding seat and the second substitute wheel wire winding seat, the second substitutes wheel wire winding seat and connects through first pull wire second wire winding subassembly, second wire winding subassembly connects another of front side through first pull wire on the wheel subassembly.
Further, a first clutch is arranged on the first winch and used for enabling the first winch and a wheel shaft of the wheel assembly to be in a connection state and a separation state.
Further, wire winding component including set up in last first wheel wire reel and second wheel wire reel of wheel component, set up in first body chassis wire reel and second body chassis wire reel on the body chassis, first wheel wire reel set up in on the wheel support of wheel component, first wheel wire reel sets up on the returning face plate, first body chassis wire reel set up in the middle part on body chassis, second body chassis wire reel set up in the body chassis just is located and is close to the rear side one side of wheel component, through first pull wire connects gradually first capstan winch, first wheel wire reel, second wheel wire reel, first body chassis wire reel, second body chassis wire reel and substitute wheel wire reel.
Further, the second wire winding turns over a mechanism and includes second pull wire, second capstan winch and third wire winding subassembly, the second capstan winch sets up in another of front side on the wheel subassembly, around there being the second pull wire on the second capstan winch, just the second capstan winch passes through the second pull wire is connected the third wire winding subassembly, the other end of third wire winding subassembly passes through the second pull wire and connects in one of rear side on the wheel subassembly.
Further, a second clutch is arranged on the second winch and used for enabling the second winch and a wheel shaft of the wheel assembly to be in a connection state and a disconnection state.
Further, the third wire winding component comprises a front-side wheel wire winding seat, a front-side wire winding seat, a rear-end wire winding seat, a rear-side first wheel wire winding seat and a rear-side second wheel wire winding seat, wherein the front-side wheel wire winding seat is arranged on a wheel support of a wheel component of the front side, the front-side wire winding seat is arranged in the middle of the front side of the vehicle body chassis, the rear-side wire winding seat is arranged in the middle of the rear side of the vehicle body chassis, the rear-end wire winding seat is arranged in the middle of the rear end of the vehicle body chassis, the rear-side first wheel wire winding seat is arranged on a wheel support of a wheel component of the rear side, and the rear-side second wheel wire winding seat is arranged on a wheel support of another wheel component of the rear side and is sequentially connected with a second traction wire through a second traction wire.
Furthermore, the wheel assembly is connected with a turnover mechanism, the turnover mechanism comprises a turnover plate, one side of the turnover plate is connected with a hinged plate, and the other side of the turnover plate is connected with a wheel support.
Furthermore, the hinged plate is sleeved with a torsion spring, and the torsion spring is installed in a space formed by the turnover plate hole of the turnover plate and the hinged plate.
And furthermore, bearing seats are arranged at two ends of the hinged plate, each bearing seat comprises a first bearing seat and a second bearing seat, one end of the hinged plate is connected with the first bearing seat, the other end of the hinged plate is connected with the second bearing seat, and the first bearing seat and the second bearing seat are fixedly arranged on the vehicle body chassis.
Furthermore, an electromagnetic limiting part is arranged on the vehicle body chassis or the bearing seat and comprises an electromagnetic controller and an electromagnetic bolt, the electromagnetic controller is arranged on the vehicle body chassis or the bearing seat, the electromagnetic bolt is arranged on the electromagnetic controller, and the electromagnetic bolt acts on the hinged plate.
Further, the substitute wheel conversion mechanism comprises a substitute wheel and a substitute wheel fixing seat connected to the upper part of the substitute wheel, and the substitute wheel fixing seat is slidably and movably installed on the linear sliding mechanism.
Further, the linear sliding mechanism comprises a sliding table which can be used for sliding of the replacing wheel conversion mechanism.
Further, the replacement wheel is designed such that the center of the replacement wheel is higher than the center of the wheel assembly.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a wheel type robot with a winding turnover mechanism for replacing fault walking, which is characterized in that a replacing wheel conversion mechanism is designed, the replacing wheel conversion mechanism and two normal wheels form a three-wheel differential driving system, and once one group of driving systems is damaged, the other group of driving systems can be automatically switched for replacement. Specifically, on the basis of the replacement wheel conversion mechanism, a first winding turnover mechanism, a second winding turnover mechanism and a linear sliding mechanism are arranged, when a wheel assembly on the rear side fails, a first clutch and a second clutch are firstly used for enabling a first winch and a second winch to be respectively connected with a wheel shaft of the wheel assembly arranged on the first winch and the second winch, a driving motor of the wheel assembly on the front side drives the wheel shaft of the vehicle to rotate, under the action of the first clutch and the second clutch, the first winch and the second winch are respectively connected with the wheel shaft of the wheel assembly arranged on the first winch and the second winch, the first winch and the second winch rotate accordingly, the first traction wire is wound on the first winch, the second traction wire is wound off the second winch, under the connection action of the first winding assembly, the second winding assembly and the third winding assembly, the replacement wheel conversion mechanism is pulled to slide on the sliding table, so that the replacement wheel conversion mechanism moves to one side of the failed wheel on the rear side under the action of the wheel assembly on the rear side, and the replacement wheel assembly normally moves upwards under the action of the replacement wheel conversion mechanism. Therefore, the problem that the robot is not changed when being maintained in severe environments such as a transformer substation and the like can be solved, the service life of a walking system of the robot can be prolonged, and the reliability of the robot can be improved.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
fig. 1 is a schematic bottom perspective view of a wheel robot with a winding and folding mechanism for alternative trouble walking according to embodiment 1 of the present invention.
Fig. 2 is a perspective view schematically illustrating another perspective view of the alternative breakdown travel wheeled robot having the wire-winding turnover mechanism according to embodiment 1 of the present invention.
Fig. 3 is a schematic front view of a wheel robot with a winding and folding mechanism for alternative trouble walking according to embodiment 1 of the present invention.
Fig. 4 is a rear view schematically showing the structure of a wheeled robot with a winding and folding mechanism for alternative trouble walking according to embodiment 1 of the present invention.
Fig. 5 is a left side view schematically showing the structure of the alternative breakdown travel wheeled robot having the winding and folding mechanism according to embodiment 1 of the present invention.
Fig. 6 is a schematic right-view structural view of a wheel type robot with a winding and folding mechanism for alternative trouble walking according to embodiment 1 of the present invention.
Fig. 7 is a schematic top view of a wheel robot with a winding and folding mechanism for alternative trouble walking according to embodiment 1 of the present invention.
Fig. 8 is a schematic bottom view of a wheeled robot with a winding and folding mechanism for fault walking according to embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of a first wire-winding turnover mechanism provided on a vehicle body chassis according to embodiment 1 of the present invention.
Fig. 10 is a schematic structural view of a second wire turnover mechanism provided on a vehicle body chassis according to embodiment 1 of the present invention.
Fig. 11 is a schematic structural view of an electromagnetic restraint member according to embodiment 1 of the present invention.
In the figure: the device comprises a vehicle body chassis, a wheel assembly 2, a turnover mechanism 3, a linear sliding mechanism 4, a replacement wheel conversion mechanism 5, an electromagnetic limiting piece 7, a first winding turnover mechanism 8 and a second winding turnover mechanism 9.
12-turning the groove upside down.
21-wheel, 22-wheel driving motor, 23-wheel shaft and 24-wheel support.
34-turnover plate, 35-first bearing seat, 36-second bearing seat and 38-hinge plate.
341-turning over the bump.
41-sliding table.
51-replacing wheel, 52-replacing wheel fixing seat.
71-electromagnetic controller, 72-electromagnetic bolt.
81-first traction wire, 82-first spool assembly, 83-second spool assembly, 84-first capstan, 86-first replacement spool reel seat, 87-second replacement spool reel seat, 88-first clutch.
821-a first wheel reel, 822-a second wheel reel, 823-a first body pan reel, 824-a second body pan reel.
91-second traction wire, 92-second clutch, 93-third winding assembly, 94-second capstan.
931-a front wheel winding seat, 932-a front winding seat, 933-a rear winding seat, 934-a rear winding seat, 935-a rear first wheel winding seat, 936-a rear second wheel winding seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Examples
As shown in fig. 1 to 11, the wheeled robot capable of replacing the fault walking includes a vehicle body chassis 1 and four wheel assemblies 2 arranged on the vehicle body chassis 1, a linear sliding mechanism 4 and a replacement wheel conversion mechanism 5 are arranged on the vehicle body chassis 1, the linear sliding mechanism 4 is installed in the middle of the bottom of the vehicle body chassis 1, and the replacement wheel conversion mechanism 5 capable of sliding along the linear sliding mechanism 4 is arranged on the linear sliding mechanism 4.
As a further description of the embodiment of the present invention, the two wheel assemblies 2 located at the front side are both connected to a first wire-winding turnover mechanism 8 capable of driving the wheel 21 to fold and turn over, and the two wheel assemblies 2 located at the rear side are both connected to a second wire-winding turnover mechanism 9 capable of driving the wheel 21 to fold and turn over. The two wheel assemblies 2 on the front side and the two wheel assemblies 2 on the rear side are defined for convenience of description according to the spatial positions of fig. 3 to 8. The two wheel assemblies 2 on the front side may be connected to the second winding and folding mechanism 9, and the two wheel assemblies 2 on the rear side may be connected to the first winding and folding mechanism 8.
As a further description of the embodiment of the present invention, one end of the first wire winding and folding mechanism 8 is connected to one of the front wheel assemblies 2, and the other end of the first wire winding and folding mechanism 8 passes through the alternative wheel switching mechanism 5 and is connected to the other front wheel assembly 2.
As a further explanation of the embodiment of the present invention, one end of the second wire winding and folding mechanism 9 is connected to one of the wheel assemblies 2 on the rear side, and the other end of the second wire winding and folding mechanism 9 passes through the other wheel assembly 2 on the rear side and is connected to the one of the wheel assemblies 2 on the front side.
As a further description of the embodiment of the present invention, when one of the wheels 21 fails, the first winding-wire folding mechanism 8 drives the alternate-wheel switching mechanism 5 to move to one side of the failed wheel 21, and simultaneously, under the combined action of the first winding-wire folding mechanism 8 and the second winding-wire folding mechanism 9, the failed wheel 21 is turned upwards, and the normal wheel 21 is turned downwards, and the alternate-wheel switching mechanism 5 and the normal wheel 21 drive the wheeled robot to travel together.
As a further description of the embodiment of the present invention, each of the four wheel assemblies 2 includes a wheel 21, a wheel driving motor 22, a wheel shaft 23, and a wheel bracket 24, the wheel 21 is connected to the wheel shaft 23, the wheel shaft 23 is connected to the wheel driving motor 22, the wheel driving motor 22 is connected to the wheel bracket 24 through a motor bracket, and the wheel bracket 24 is connected to the flipping board 34.
As a further description of the embodiment of the present invention, the first wire winding and folding mechanism 8 includes a first traction wire 81, a wire winding assembly, a first capstan 84 and a replacement wheel wire winding base, the wire winding assembly includes a first wire winding assembly 82 and a second wire winding assembly 83, the replacement wheel wire winding base includes a first replacement wheel wire winding base 86 and a second replacement wheel wire winding base 87 which are disposed on two sides of the replacement wheel switching mechanism 5, the first capstan 84 is disposed on one of the wheel assemblies 2 on the front side, the first capstan 84 is wound with the first traction wire 81, the first capstan 84 is connected to the first wire winding assembly 82 through the first traction wire 81, the first wire winding assembly 82 is connected to the first replacement wheel wire winding base 86 through the first traction wire 81, the first replacement wheel wire winding base 86 is connected to the second replacement wheel wire winding base 87 through the first traction wire 81, and the second replacement wheel wire winding base 87 is connected to the other wheel assembly 2 on the front side through the first traction wire winding assembly 81.
As a further description of the embodiment of the present invention, a first clutch 88 is disposed on the first winch 84, and the first clutch 88 is used for connecting and disconnecting the first winch 84 and the wheel shaft 23 of the wheel assembly 2. Normally, the first winch 84 and the wheel shaft 23 are separated by the first clutch 88, and the separated state means that when the wheel driving motor 22 drives the wheel shaft 23 to rotate and further drives the wheel 21 to perform linear motion, the first winch 84 and the wheel shaft 23 are separated, and the first winch 84 cannot rotate along with the rotation of the wheel shaft 23. Therefore, the wheel driving motor 22 normally drives the wheel 21 to move at ordinary times, when a fault occurs, the first winch 84 and the wheel shaft 23 are in a connection state through the first clutch 88, at this time, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the first winch 84 to work together, and further drives the whole first winding and folding mechanism 8 to work, so that the linear sliding driving piece for the fault and the wheel driving motor 22 for driving are compounded to form a unit, and a walking fault multiplexing motor unit is formed. Therefore, the walking failure multiplexing motor unit can integrate the linear sliding driving piece and the wheel driving motor 22, and the failure replacement is realized without adding extra driving equipment.
As a further description of the embodiment of the present invention, the wire winding assembly includes a first wheel wire winding seat 821 and a second wheel wire winding seat 822 which are disposed on the wheel assembly 2, and a first body chassis wire winding seat 823 and a second body chassis wire winding seat 824 which are disposed on the body chassis 1, the first wheel wire winding seat 821 is disposed on the wheel bracket 24 of the wheel assembly 2, the first wheel wire winding seat 821 is disposed on the flipping board 34, the first body chassis wire winding seat 823 is disposed in the middle of the body chassis 1, the second body chassis wire winding seat 824 is disposed on the body chassis 1 and is located at a side of the wheel assembly 2 close to the rear side, and the first winch 84, the first wheel wire winding seat 821, the second wheel wire winding seat 822, the first body chassis wire winding seat 823, the second body chassis wire winding seat 824 and the substitute wheel wire winding seat are sequentially connected through the first traction wire 81. Specifically, one end of the first traction wire 81 is wound around the first capstan 84, and from the first capstan 84, passes through the first wheel winding base 821, the second wheel winding base 822, the first body chassis winding base 823 and the second body chassis winding base 824 of the first winding assembly 82, then passes through the second replacement wheel winding base 87 and the first replacement wheel winding base 86, and finally passes through the second body chassis winding base 824, the first body chassis winding base 823 and the second body chassis winding base 822 of the second winding assembly 83, and finally passes through the other wheel support 24 of the other wheel assembly 2, which is located at the front side, with the other end of the first traction wire 81.
As a further description of the embodiment of the present invention, the second wire winding and folding mechanism 9 includes a second traction wire 91, a second winch 94 and a third wire winding assembly 93, the second winch 94 is disposed on the other wheel assembly 2 on the front side, the second traction wire 91 is wound on the second winch 94, the second winch 94 is connected to the third wire winding assembly 93 through the second traction wire 91, and the other end of the third wire winding assembly 93 is connected to the one wheel assembly 2 on the rear side through the second traction wire 91.
As a further description of the embodiment of the present invention, a second clutch 92 is disposed on the second winch 94, and the second clutch 92 is used for connecting and disconnecting the second winch 94 and the wheel shaft 23 of the wheel assembly 2. Normally, the second winch 94 and the wheel shaft 23 are in a disengaged state through the second clutch 92, and the disengaged state means that when the wheel driving motor 22 drives the wheel shaft 23 to rotate, and thus the wheel 21 is driven to perform linear motion, the second winch 94 and the wheel shaft 23 are in the disengaged state, and the second winch 94 does not rotate along with the rotation of the wheel shaft 23. Therefore, the wheel driving motor 22 normally drives the wheel 21 to move at ordinary times, when a fault occurs, the second winch 94 and the wheel shaft 23 are in a connected state through the second clutch 92, at this time, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the second winch 94 to work together, and further drives the whole second winding and folding mechanism 9 to work, so that the linear sliding driving piece for the fault and the wheel driving motor 22 for driving are compounded to form a unit, and a walking fault multiplexing motor unit is formed. Therefore, the walking failure multiplexing motor unit can integrate the linear sliding driving piece and the wheel driving motor 22, and the failure replacement is realized without adding extra driving equipment.
As a further explanation of the embodiment of the present invention, the third wire winding assembly 93 includes a front wheel wire winding seat 931, a front wire winding seat 932, a rear wire winding seat 933, a rear wire winding seat 934, a rear first wheel wire winding seat 935, and a rear second wheel wire winding seat 936, the front wheel wire winding seat 931 is disposed on the wheel support 24 of the front one of the wheel assemblies 2, the front wire winding seat 932 is disposed in the front middle of the vehicle body chassis 1, the rear wire winding seat 933 is disposed in the rear middle of the vehicle body chassis 1, the rear wire winding seat 934 is disposed in the rear middle of the vehicle body chassis 1, the rear first wheel wire winding seat 935 is disposed on the wheel support 24 of the rear one of the wheel assemblies 2, the rear second wheel wire winding seat 936 is disposed on the wheel support 24 of the rear other of the wheel assemblies 2, and one end of the second traction wire 91 is wound on the second winch 94 by the second traction wire 91, and then the front wheel wire winding seat 931, the front wire winding seat 935, the rear second wheel wire winding seat 936 and the rear second wheel wire winding seat 936 are fixed on the rear wheel support 24.
Through the first winding wire folding mechanism 8 and the second winding wire folding mechanism 9, when the substitute wheel switching mechanism 5 needs to be moved to one side of the failed wheel 21, the first clutch 88 and the second clutch 92 are firstly used to enable the winch and the wheel shaft 23 to be in a connected state, at this time, the wheel driving motor 22 drives the wheel shaft 23 to rotate, and simultaneously drives the first winch 84 and the second winch 94 to work together, and further pulls the first pull wire 81 and the second pull wire 91, and under the connecting action of the first winding assembly 82, the second winding assembly 83 and the third winding assembly 93, the substitute wheel switching mechanism 5 is pulled to slide on the sliding table 41, so that the substitute wheel switching mechanism 5 moves to one side of the failed wheel 21 on the rear side under the action of the sliding table 41, and simultaneously, the normal wheel assembly 2 on the front side is folded and turned to the lower side, and the failed wheel assembly 2 on the rear side is folded and turned to the upper side. The wheel-type robot is driven to travel by the alternate wheel changing mechanism 5 together with the normal wheels 21 on the front side. Therefore, the problem that the robot is not changed when being maintained in severe environments such as a transformer substation and the like can be solved, the service life of a walking system of the robot can be prolonged, and the reliability of the robot can be improved.
As a further description of the embodiment of the present invention, the wheel assembly 2 is connected to the turnover mechanism 3, the turnover mechanism 3 includes a turnover plate 34, one side of the turnover plate 34 is connected to a hinge plate 38, and the other side of the turnover plate 34 is connected to the wheel bracket 24.
Specifically, a turning convex block 341 is arranged on one side of the turning plate 34, which is located on the screw rod 31, and a turning groove 12 matched with the turning convex block 341 is arranged on the vehicle body chassis 1. Through setting up upset protruding block 341 and upset recess 12, when articulated slab 38 drove upset board 34 and rotates, conveniently upset protruding block 341 and upset recess 12 between form rotation space, guarantee that the wheel 21 of trouble can be overturned smoothly upwards, improve the overall arrangement rationality of whole structure.
As a further description of the embodiment of the present invention, a torsion spring (not shown) is sleeved on the hinge plate 38, and the torsion spring is installed in a space formed by the hole of the flipping plate 34 and the external thread of the screw rod 31. Specifically, the wheels 21 and the vehicle body chassis 1 are in a vertical state by arranging the torsion spring. Only when the wheel 21 is acted by external force, the force of the torsion spring needs to be overcome additionally, and the turnover plate 34 can drive the wheel 21 group to rotate, so that the wheel 21 in normal use is ensured to be in a motion state at any moment, and the wheel 21 in motion can not be turned over due to the existence of the first winding turnover mechanism 8 and the second winding turnover mechanism 9.
Bearing seats are arranged at two ends of the hinged plate 38, each bearing seat comprises a first bearing seat 35 and a second bearing seat 36, one end of the hinged plate 38 is connected with the first bearing seat 35, the other end of the hinged plate 38 is connected with the second bearing seat 36, and the first bearing seat 35 and the second bearing seat 36 are both fixedly mounted on the vehicle body chassis 1. The space for installing the turnover plate 34 is formed between the first bearing seat 35 and the second bearing seat 36, so that the turnover plate 34 cannot be deviated in the axial direction of the hinge plate 38 when being turned.
As a further description of the embodiment of the present invention, the substitute wheel changing mechanism 5 includes a substitute wheel 51 and a substitute wheel holder 52 connected to an upper portion of the substitute wheel 51, and the substitute wheel holder 52 is slidably mounted on the linear sliding mechanism 4.
Preferably, the substitute wheel 51 in the present embodiment may be an existing universal wheel, a wheel 21, or the like. Preferably universal wheels.
Specifically, the substitute wheel fixing seat 52 is a U-shaped seat, and the inner surface of the U-shaped seat is attached to the sliding table 41 of the linear sliding mechanism 4, so that the linear sliding mechanism 4 can slide with the substitute wheel conversion mechanism 5.
As a further explanation of the embodiment of the present invention, the linear slide mechanism 4 includes a slide table 41 that is slidable in place of the wheel changing mechanism 5.
As a further description of the embodiment of the present invention, in the embodiment, an additional linear sliding driving element is not disposed on the sliding table 41, and the linear sliding driving element and the wheel driving motor 22 can be integrated into one by directly using the travel failure multiplexing motor unit.
Specifically, the linear sliding driving element according to the present embodiment is a driving element that drives the substitute wheel fixing seat 52 of the substitute wheel changing mechanism 5 to move. Specifically, the linear sliding driving piece can be composed of linear driving devices such as a linear motor, a push rod motor and a cylinder, the wheel replacing mechanism 5 is installed on the sliding table 41, the sliding table 41 is fixedly installed on the vehicle body chassis 1, and the linear sliding driving piece is connected with the wheel replacing mechanism 5. A screw nut device, a slide rail and a slider device, etc. can be arranged in the sliding table 41, and the substitute wheel switching mechanism 5 can be driven by a linear sliding driving piece to slide on the sliding table 41. The embodiment is equivalent to directly omitting the linear sliding driving part, and the walking failure multiplexing motor unit can integrate the linear sliding driving part and the wheel driving motor 22 into a whole, so that failure replacement is realized without adding additional driving equipment.
As a further description of the embodiment of the present invention, in order to improve the safety of the whole robot, the electromagnetic limiting member 7 is disposed on the vehicle body chassis 1 or the bearing seat, specifically, the electromagnetic limiting member 7 includes an electromagnetic controller 71 and an electromagnetic plug 72, the electromagnetic controller 71 is mounted on the vehicle body chassis 1 or the bearing seat, the electromagnetic plug 72 is disposed on the electromagnetic controller 71, and the electromagnetic plug 72 acts on the hinge plate 38. Specifically, when the wheel assembly 2 is not damaged, the electromagnetic bolt 72 acts on the hinged plate 38 to limit the hinged plate 38, so that the first winding turnover mechanism 8 and the second winding turnover mechanism 9 cannot drive the wheel 21 to move in the moving process of the wheel 21, and the safety of the whole robot is ensured.
Since the wheel 21 of the replacement-wheel exchanging mechanism 5 is a universal wheel, no malfunction generally occurs with respect to the other four wheels 21. In practice, the wheel type robot only has one wheel 21 fault, and the faults of more than two wheels 21 can not occur, so that the wheel type robot of the invention can meet the wheel 21 fault under most conditions.
In addition, the mode can ensure that the wheel 21 on one side has a fault once, so theoretically, under the condition that other parts and systems of the wheeled robot have no faults, the service life of the wheel assembly 2 of the wheeled robot can be ensured to be twice as long as the original service life.
As a further preferable mode for the embodiment of the present invention, the universal wheel of the alternative wheel exchanging mechanism 5 may be designed such that the center of the universal wheel is higher than the centers of the front and rear wheels, so that the two alternative wheels 21 are first turned downward in the process of the linear sliding mechanism driving the universal wheel to slide to the side of the failed wheel 21, and the two alternative wheels 21 that are turned may temporarily not land due to the fact that the centers of the universal wheels are higher than the centers of the front and rear wheels, so that the requirement for the driving force of the linear sliding mechanism may be reduced, and when the linear sliding mechanism driving the universal wheel to approach the side of the failed wheel 21, the two normal alternative wheels 21 land. Similarly, because the center of the universal wheel is higher than the centers of the front wheel and the rear wheel, the two failed wheels 21 can be lifted off the ground in an overhead manner, then the linear sliding mechanism drives the universal wheel to continuously slide to one side of the failed wheel for a certain distance, so that the two failed wheels 21 which do not touch the ground (are lifted off by the universal wheel) are turned upwards, and at the moment, the universal wheel and the two replaced normal wheels 21 which are turned over form a two-wheel differential three-wheel driving system.
In short, the two failed wheels 21 are suspended by the universal wheels and then turned over, and the demand for the driving force of the linear sliding mechanism can be reduced. The requirement for the driving force of the linear sliding mechanism can also be reduced by making the two alternative normal wheels 21 overhead by the universal wheels and then turning them over.
The working principle of the embodiment of the invention is as follows: assuming that the substitute wheel switching mechanism 5 is disposed at the front side or the rear side of the sliding table 41, for convenience of description, assuming that the substitute wheel switching mechanism 5 is disposed at the front side of the sliding table 41, the wheel assembly 2 located at the front side is folded and turned upwards, the wheel assembly 2 at the rear side and the substitute wheel switching mechanism 5 together drive the wheeled robot to travel, and the cart is driven to move by two steering motors and driving motors of the rear wheels. In addition, the universal wheel is in a preferred use mode that the center of the front wheel is higher than that of the rear wheel, when no fault occurs at ordinary times, the hinged plate 38 can be limited through the electromagnetic bolt 72, and it is guaranteed that the first winding turnover mechanism 8 and the second winding turnover mechanism 9 cannot drive the wheel 21 to rotate and turn over the wheel 21 in the moving process of the wheel 21, namely the hinged plate 38 cannot drive the wheel 21 to move, and the safety of the whole robot is guaranteed. When one wheel 21 on the rear side fails or 2 wheels 21 fail together, the first winding-and-folding mechanism 8 and the second winding-and-folding mechanism 9 drive the substitute wheel fixing seat 52 and the substitute wheel 51 to move to the rear side of the vehicle body chassis 1. Specifically, the winch and the wheel axle 23 are connected through the first clutch 88 and the second clutch 92, and at this time, the wheel driving motor 22 drives the wheel axle 23 to rotate and simultaneously drives the first winch 84 and the second winch 94 to work together, and the substitute wheel switching mechanism 5 is pulled to slide on the sliding table 41 under the connecting action of the first wire winding assembly 82, the second wire winding assembly 83 and the third wire winding assembly 93, so that the substitute wheel switching mechanism 5 moves to one side of the rear failed wheel 21 under the action of the sliding table 41, and simultaneously, the front normal wheel assembly 2 is folded and turned over to the lower side, and the rear failed wheel assembly 2 is folded and turned over to the upper side, thereby forming the three-wheel mechanism of the front two-wheel and rear substitute wheel switching mechanism 5. And finally, the main control system controls a normal wheel driving motor 22 to drive two rear wheels 21 to move, the substitute wheel conversion mechanism 5 and the normal two wheels 21 form a three-wheel differential driving system, and the substitute wheel conversion mechanism 5 and the normal wheels 21 drive the wheel type robot to walk together. Therefore, the problem of inconvenience in maintaining the robot in severe environments such as a transformer substation and the like can be solved, the service life of a walking system of the robot can be prolonged, and the reliability of the robot can be improved.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications based on the present invention to solve the same technical problems and achieve the same technical effects are all covered by the protection scope of the present invention.
Claims (14)
1. Wheeled robot of replacement trouble walking with wire winding turnover mechanism, including automobile body chassis with set up four wheel components on the automobile body chassis, its characterized in that: the vehicle body chassis is provided with a linear sliding mechanism and a substitute wheel conversion mechanism, the linear sliding mechanism is mounted in the middle of the bottom of the vehicle body chassis, and the linear sliding mechanism is provided with the substitute wheel conversion mechanism which can slide along the linear sliding mechanism;
the two wheel assemblies positioned on the front side are both connected with a first winding turnover mechanism capable of driving the wheels to fold and turn, and the two wheel assemblies positioned on the rear side are both connected with a second winding turnover mechanism capable of driving the wheels to fold and turn;
one end of the first winding turnover mechanism is connected to one wheel assembly on the front side, and the other end of the first winding turnover mechanism penetrates through the alternative wheel conversion mechanism to be connected to the other wheel assembly on the front side;
one end of the second winding turnover mechanism is connected to one wheel assembly on the rear side, and the other end of the second winding turnover mechanism penetrates through the other wheel assembly on the rear side and is connected to one wheel assembly on the front side;
when one of the wheels has a fault, the first winding turnover mechanism drives the substitute wheel conversion mechanism to move to one side of the fault wheel, and simultaneously, under the combined action of the first winding turnover mechanism and the second winding turnover mechanism, the fault wheel is turned upwards, the normal wheel is turned downwards, and the substitute wheel conversion mechanism and the normal wheel drive the wheeled robot to walk together.
2. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 1 wherein: first wire winding turns over a mechanism and includes first pull wire, wire winding subassembly, first capstan winch and substitute wheel wire winding seat, wire winding subassembly includes first wire winding subassembly and second wire winding subassembly, substitute wheel wire winding seat including set up in substitute wheel wire winding seat and the second substitute wheel wire winding seat of replacing wheel changeover mechanism both sides, first capstan winch sets up in one of front side on the wheel subassembly, around having first pull wire on the first capstan winch, just first capstan winch passes through first pull wire is connected first wire winding subassembly, first wire winding subassembly through first pull wire connect in on the first substitute wheel wire winding seat, connect through first pull wire between first substitute wheel wire winding seat and the second substitute wheel wire winding seat, the second substitutes wheel wire winding seat and connects through first pull wire second wire winding subassembly, second wire winding subassembly connects another of front side through first pull wire on the wheel subassembly.
3. The walk-in-trouble wheel robot with a wire-wrap-around-turnover mechanism according to claim 2, wherein: and a first clutch is arranged on the first winch and used for enabling the first winch and the wheel shaft of the wheel assembly to be in a connection state and a separation state.
4. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 3 wherein: the wire winding subassembly including set up in last first wheel wire winding seat and the second wheel wire winding seat of wheel subassembly, set up in first body chassis wire winding seat and second body chassis wire winding seat on the body chassis, first wheel wire winding seat set up in on the wheel support of wheel subassembly, first wheel wire winding seat sets up on the returning face plate, first body chassis wire winding seat set up in the middle part on body chassis, second body chassis wire winding seat set up in body chassis just is located and is close to the rear side one side of wheel subassembly, through first pull wire connects gradually first capstan winch, first wheel wire winding seat, second wheel wire winding seat, first body chassis wire winding seat, second body chassis wire winding seat and replacement wheel wire winding seat.
5. The walk-in-trouble wheel robot with a wire-wrap-around turnover mechanism according to claim 3, wherein: the second wire winding turns over a mechanism and includes second pull wire, second capstan winch and third wire winding subassembly, the second capstan winch sets up in another of front side on the wheel subassembly, around there being the second pull wire on the second capstan winch, just the second capstan winch passes through the second pull wire is connected third wire winding subassembly, the other end of third wire winding subassembly passes through the second pull wire and connects in one of rear side on the wheel subassembly.
6. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 5 wherein: and a second clutch is arranged on the second winch and used for enabling the second winch and the wheel shaft of the wheel assembly to be in a connection state and a disconnection state.
7. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 5 wherein: the third wire winding subassembly includes front side wheel wire winding seat, front side wire winding seat, rear end wire winding seat, the first wheel wire winding seat of rear side and rear side second wheel wire winding seat, the front side wheel wire winding seat sets up on the wheel support of a wheel subassembly of front side, the front side wire winding seat set up in vehicle body chassis's front side middle part, the rear side wire winding seat set up in vehicle body chassis's rear side middle part, the rear end wire winding seat set up in vehicle body chassis's rear end middle part, the first wheel wire winding seat of rear side sets up on the wheel support of a wheel subassembly of rear side, the second wheel wire winding seat of rear side sets up on the wheel support of another wheel subassembly of rear side, through the second pull wire connects gradually second capstan, front side wheel wire winding seat, front side wire winding seat, rear side wire winding seat, the first wheel wire winding seat of rear side, rear end wire winding seat and rear side second wheel wire winding seat.
8. The alternative trouble-walking wheeled robot having a wire-winding turnover mechanism according to any one of claims 1 to 7, wherein: the wheel assembly is connected with a turnover mechanism, the turnover mechanism comprises a turnover plate, one side of the turnover plate is connected with a hinged plate, and the other side of the turnover plate is connected with a wheel support.
9. The walk-in-trouble wheel robot with a wire-wrap-around turnover mechanism of claim 8, wherein: the hinge plate is sleeved with a torsion spring, and the torsion spring is installed in a space formed by the turnover plate hole of the turnover plate and the hinge plate.
10. The walk-in-trouble wheel robot with a wire-wrap-around-turnover mechanism of claim 9, wherein: bearing seats are arranged at two ends of the hinged plate, each bearing seat comprises a first bearing seat and a second bearing seat, one end of the hinged plate is connected with the first bearing seat, the other end of the hinged plate is connected with the second bearing seat, and the first bearing seat and the second bearing seat are fixedly arranged on the vehicle body chassis.
11. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 10 wherein: the electromagnetic limiting part is arranged on the vehicle body chassis or the bearing seat and comprises an electromagnetic controller and an electromagnetic bolt, the electromagnetic controller is arranged on the vehicle body chassis or the bearing seat, the electromagnetic bolt is arranged on the electromagnetic controller, and the electromagnetic bolt acts on the hinged plate.
12. A fail-safe wheeled robot having a wire turn-over mechanism as claimed in claim 9, wherein: the replacing wheel conversion mechanism comprises a replacing wheel and a replacing wheel fixing seat connected to the upper part of the replacing wheel, and the replacing wheel fixing seat is arranged on the linear sliding mechanism in a sliding motion manner.
13. The walk-in-trouble wheel robot with a wire-wrap-around-turnover mechanism of claim 12, wherein: the linear sliding mechanism comprises a sliding table which can be used for replacing the wheel switching mechanism to slide.
14. The walk-in-trouble wheel robot with a wire-wrap-around turnup mechanism of claim 13, wherein: the replacement wheel is designed such that the center of the replacement wheel is higher than the center of the wheel assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310044090.3A CN115848531B (en) | 2023-01-29 | 2023-01-29 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310044090.3A CN115848531B (en) | 2023-01-29 | 2023-01-29 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115848531A true CN115848531A (en) | 2023-03-28 |
| CN115848531B CN115848531B (en) | 2023-06-02 |
Family
ID=85657351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310044090.3A Active CN115848531B (en) | 2023-01-29 | 2023-01-29 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115848531B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES204085A1 (en) * | 1952-06-19 | 1952-09-01 | Forcada Bertran Casimiro | Safety device against failures in the automotive vehicle address (Machine-translation by Google Translate, not legally binding) |
| DE1729528U (en) * | 1954-06-28 | 1956-09-06 | F X Meiller Fahrzeug Und Masch | SPARE WHEEL CARRIERS FOR VEHICLES. |
| JPS56154285U (en) * | 1980-04-18 | 1981-11-18 | ||
| DE3843532A1 (en) * | 1988-07-02 | 1990-01-04 | Friedrich Striehl | Off-the-road and road vehicle |
| CN208593448U (en) * | 2018-06-27 | 2019-03-12 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN210175021U (en) * | 2019-07-02 | 2020-03-24 | 深圳市安信美实业有限公司 | Standby high-pressure cleaning circulating system |
| CN112849300A (en) * | 2021-01-28 | 2021-05-28 | 北京建筑大学 | Multi-mode deformable wheel type moving mechanism |
-
2023
- 2023-01-29 CN CN202310044090.3A patent/CN115848531B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES204085A1 (en) * | 1952-06-19 | 1952-09-01 | Forcada Bertran Casimiro | Safety device against failures in the automotive vehicle address (Machine-translation by Google Translate, not legally binding) |
| DE1729528U (en) * | 1954-06-28 | 1956-09-06 | F X Meiller Fahrzeug Und Masch | SPARE WHEEL CARRIERS FOR VEHICLES. |
| JPS56154285U (en) * | 1980-04-18 | 1981-11-18 | ||
| DE3843532A1 (en) * | 1988-07-02 | 1990-01-04 | Friedrich Striehl | Off-the-road and road vehicle |
| CN208593448U (en) * | 2018-06-27 | 2019-03-12 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN210175021U (en) * | 2019-07-02 | 2020-03-24 | 深圳市安信美实业有限公司 | Standby high-pressure cleaning circulating system |
| CN112849300A (en) * | 2021-01-28 | 2021-05-28 | 北京建筑大学 | Multi-mode deformable wheel type moving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115848531B (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107054681B (en) | Rodless aircraft tractor | |
| CN109094309A (en) | Combined storage battery tractor | |
| CN113147953B (en) | Inspection robot with self-adaptive chassis | |
| CN106628231B (en) | Wheel holding and jacking mechanism of rodless aircraft tractor | |
| CN111114641A (en) | Electric vehicle chassis and unmanned electric vehicle | |
| CN209667245U (en) | A kind of combined vehicle tractor | |
| CN102490582A (en) | Symmetrically-arranged electrically-driven automobile chassis and driving control method thereof | |
| CN115848531A (en) | Wheel type robot with winding turnover mechanism and capable of walking instead of fault | |
| CN111562783A (en) | Domain control system based on unmanned driving of mining wide-body vehicle | |
| CN214217038U (en) | Omnidirectional hidden traction type AGV | |
| CN200943022Y (en) | Tyre type container gantry crane with duplicate supply electricity-receiving mechanism | |
| CN112758571A (en) | Omnidirectional hidden traction type AGV | |
| CN111098833B (en) | Horizontal spreading type synchronous double-wheel parking transverse moving device | |
| CN116001950A (en) | Wheeled robot capable of replacing fault walking | |
| CN115384643B (en) | All-terrain agricultural crop information monitoring mobile platform and monitoring method | |
| CN115743357B (en) | Walking wheel type robot capable of replacing fault wheel | |
| CN208602560U (en) | A kind of vehicle chassis | |
| CN116279908A (en) | But combined drive's wheeled robot of substitution trouble walking | |
| CN112874658A (en) | Latent AGV that pulls with self-balancing drive structure | |
| CN112590970A (en) | Small-size automated guided vehicle structure | |
| CN109878580A (en) | A kind of combined vehicle tractor | |
| CN220410285U (en) | Chassis | |
| CN1492815A (en) | Electric vehicle with detachable power supply device | |
| CN111267885A (en) | Mobile device, linked mobile integrated vehicle set and communication control method thereof | |
| CN113525215B (en) | Multifunctional rescue vehicle and rescue method of multi-marshalling vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 999, Hanjiang West Road, Xinbei District, Changzhou City, Jiangsu Province 213022 Patentee after: Jiangsu Puma Electric Power Technology Co.,Ltd. Country or region after: China Address before: No. 999, Hanjiang West Road, Xinbei District, Changzhou City, Jiangsu Province 213022 Patentee before: Jiangsu puma intelligent industrial design and Research Co.,Ltd. Country or region before: China |