CN206106867U - Robot vehicle body suspension system - Google Patents
Robot vehicle body suspension system Download PDFInfo
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- CN206106867U CN206106867U CN201621082776.3U CN201621082776U CN206106867U CN 206106867 U CN206106867 U CN 206106867U CN 201621082776 U CN201621082776 U CN 201621082776U CN 206106867 U CN206106867 U CN 206106867U
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- vehicle body
- suspension system
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Abstract
The utility model discloses a robot vehicle body suspension system, including hanging the mechanism, linking axle mechanism, motor, driver and wheel, it includes support frame, link assembly, xarm subassembly and bumper shock absorber to hang the mechanism, double -parallel quadrangle mechanism is constituteed to support frame and link assembly, xarm subassembly, the bumper shock absorber is located between the double -parallel quadrangle mechanism and is its both ends of vertical direction joint support frame and link assembly respectively, the motor is located lower part and the link assembly fixed connection who hangs the mechanism, even axle mechanism is used for connecting motor output shaft and wheel, the driver card is located on the motor. This suspension, adaptive capacity to environment is strong, moves in different environment, can both guarantee the good laminating on robot wheel and ground, and motion stability is good, and simple structure, dependable performance are worth popularization in the field of business.
Description
Technical field
The utility model belongs to robot mechanism design field, and in particular to a kind of robot vehicle body suspension system.
Background technology
Suspension is the general name of all attachment means between automobile frame and wheel or vehicle bridge, can equally be well applied to machine
Utilization in people's mobile platform.By suspension, the vibrations of mobile platform effectively can must be reduced, alleviate platform vital part
Between impact, improve platform stability and reliability.
Suspension is broadly divided into two kinds of independent suspension and dependent suspension.Dependent suspension refers to two cars
Wheel is connected each other, and the bounce of single wheel also influences whether the bounce of opposite side wheel simultaneously, and this suspension rate of exchange are simple,
It is common in the suspension applications of heavy-duty wheel.And each wheel has respective hitch in independent suspension system, each other
It is independent, it does not interfere with each other.A kind of dependent suspension --- the front rocking suspension applied when RoboMasters robots compete
Mecanum wheel mobile platform.In real racetrack, the damping effect of this suspended structure is detailed, in rugged competition area
On, the camera being mounted on platform can gather all the time clearly image.The reaction of the shock-proof spring in this suspended structure
Power is main in the horizontal direction, rather than undertakes the vertical direction of mobile platform gravity, thus to the utilization rate of rack construction intensity
Than relatively low, frame needs to strengthen suppressing internal active force, is not suitable for the mobile platform of heavy load.Simultaneously as using
Be motor, motor is partially long plus reduction box part, if it is desired in vertical direction mounting shock absorber, it is necessary to which design is in motor
Reduction box top, the riding position of another point of damper is higher when do so causes to design chassis main frame, and together platform is total
Body is just higher, causes robot ambulation stability poor.
Utility model content
The purpose of this utility model is to solve the above problems, there is provided a kind of simple structure, the robot car body of dependable performance
Suspension.
To solve above-mentioned technical problem, the technical solution of the utility model is：A kind of robot vehicle body suspension system, including
Hitch, connecting shaft mechanism, motor, driver and wheel, the hitch includes bracing frame, link assembly, transverse arm group
Part and damper, support frame as described above and link assembly, transverse arm component composition double parallel quadrangular mechanism, the damper is located at
Connect bracing frame and link assembly respectively between double parallel quadrangular mechanism and in its two ends of vertical direction, the motor is located at outstanding
The bottom of suspension mechanism is simultaneously fixedly connected with link assembly, and the connecting shaft mechanism is used to connect motor output shaft and wheel, the drive
Dynamic device is arranged on motor.
Preferably, the connecting shaft mechanism includes connecting shaft case, flange coupling and rolling bearing, and the connecting shaft case includes connecting shaft
Block and embedded end cap, the connecting shaft block is fixedly connected with motor, and flange end and the wheel of the flange coupling are fixed
Connection, the axle sleeve of flange coupling wears end cap and end is located in connecting shaft block cavity, and the inner ring of the rolling bearing is arranged
On the axle sleeve of flange coupling, and in the embedded end cap in its outer ring, the output shaft of the motor is bonded with the axle sleeve.
Preferably, axle card is arranged with the axle sleeve, for limiting the axial movement of rolling bearing.
Preferably, the rolling bearing is deep groove ball bearing.
Preferably, the transverse arm component includes transverse arm one, transverse arm two, transverse arm three and transverse arm four, the link assembly bag
Include connecting rod one, connecting rod two, and the fix bar that two ends are fixedly connected respectively with the top of connecting rod one and the top of connecting rod two, the transverse arm
First, the two ends of transverse arm two are respectively hinged the first parallel-crank mechanism of composition, the transverse arm with bracing frame left side, connecting rod one
3rd, the two ends of transverse arm four are respectively hinged the second parallel-crank mechanism of composition, the damping with bracing frame right edge, connecting rod two
Device be located between the first parallel-crank mechanism and the second parallel-crank mechanism and two ends respectively with middle side part on bracing frame, solid
Fixed pole middle part.
Preferably, fixed mount is additionally provided with the link assembly, the fixed mount is around wheel and is provided with ultrasound thereon
Wave sensor.
Preferably, the wheel adopts Mecanum wheel.
Preferably, the driver card is provided close to one end of motor encoder.
Preferably, the motor is planetary reducing motor.
The beneficial effects of the utility model are：Robot vehicle body suspension system provided by the utility model, based on module
Change the core concept of design, gathered " motor+driving+wheel suspension structure ", incorporate frame for movement and circuit control, formed
One individually complete functional module, the suspension is independent subsystem, can will as general module and other products
Element is combined, the new system of composition, produces different function or identical function, the series of products of different performance.This hangs
Extension system, strong environmental adaptability is moved in different environments, can ensure the good fit of robot wheel and ground, fortune
Dynamic stationarity is good, simple structure, dependable performance, is worth popularization in the field of business.
Description of the drawings
Fig. 1 is the structural representation of the utility model robot vehicle body suspension system；
Fig. 2 is the side view of the utility model robot vehicle body suspension system；
Fig. 3 is the hitch schematic diagram of the utility model robot vehicle body suspension system；
Fig. 4 is the connecting shaft mechanism explosive view of the utility model robot vehicle body suspension system；
Fig. 5 is the connecting shaft mechanism blast top view of the utility model robot vehicle body suspension system；
Fig. 6 is the connecting shaft mechanism sectional view of the utility model robot vehicle body suspension system.
Description of reference numerals：1st, hitch；11st, bracing frame；12nd, damper；13rd, transverse arm one；14th, transverse arm two；15th, it is horizontal
Arm three；16th, transverse arm four；17th, connecting rod one；18th, fix bar；19th, connecting rod two；2nd, connecting shaft mechanism；21st, flange coupling；22nd, roll
Bearing；23rd, connecting shaft block；24th, end cap；25th, axle card；26th, jackscrew；3rd, motor；31st, flat key；4th, wheel.
Specific embodiment
Below in conjunction with the accompanying drawings the utility model is described further with specific embodiment：
As shown in figures 1 to 6, robot vehicle body suspension system of the present utility model, including hitch 1, connecting shaft mechanism 2, electricity
Machine 3, driver (not shown) and wheel 4, hitch 1 includes bracing frame 11, link assembly, transverse arm component and subtracts
Shake device 12, bracing frame 11 and link assembly, transverse arm component composition double parallel quadrangular mechanism, damper 12 is located at the side of double parallel four
Connect bracing frame 11 and link assembly respectively between shape mechanism and in its two ends of vertical direction, motor 3 is arranged at hitch 1
Bottom, and be connected with wheel 4 by connecting shaft mechanism 2, driver card is on motor 3 and in motor circuit connection.
In the present embodiment, wheel 4 adopts Mecanum wheel.Mecanum wheel (Mecanum Wheel) abbreviation wheat is taken turns, and is
By Swede BengtIlon in design in 1973.All along the profile of wheel on each Mecanum wheel, towards certain angle
A circle cydariform roller is tiltedly put, so Mecanum wheel free degree with 3 rotations when motion.Due to Mecanum
The roller curve of wheel be according to wheat take turns center circle fit come, therefore in order to ensure the precise control of Mecanum wheel train,
When suspension is designed, moment holding wheat wheel need to be as far as possible obtained vertical with ground.
As Figure 4-Figure 6, connecting shaft mechanism 2 includes connecting shaft case, flange coupling 21 and rolling bearing 22.Connecting shaft case includes connecting
Axle box seating 23 and the end cap 24 being fixedly connected with the port of connecting shaft block 23.Connecting shaft block 23 is fixedly connected with motor 3.Flange shaft coupling
The flange end of device 21 is fixedly connected with wheel 4, and the axle sleeve of flange coupling 21 wears end cap 24 and end is located at connecting shaft block 23
It is interior.Outer ring, the inner ring of rolling bearing 22 is connected respectively with end cap 24, axle sleeve.The output shaft of motor 3 is bonded with axle sleeve.
In the present embodiment, rolling bearing 22 is deep groove ball bearing.The generally foreign side's hollow structure of connecting shaft block 23, it is hollow
For cylindrical hole.End cap 24 also opens up cylindrical hole using embedded.The hindfoot portion of connecting shaft block 23 is right in " cross "
Claim structure, the structure to reduce the intensity redundancy of connecting shaft block 23, volume can be reduced while structural strength is ensured and mitigates weight,
Save consumables cost.The rear end part of connecting shaft block 23 is further opened with strip hole, and the strip hole is fabrication hole, is for practical set
During be easy to subsequent installation jackscrew 26 and design.The madial wall of the front section of connecting shaft block 23 is provided with platform, for the axis of rolling
Hold the axial limiting of 22 one sides.23 4 jiaos of connecting shaft block is respectively equipped with a fixing hole, uses M4's by aforementioned fastening hole
Interior hexagonal hexagonal socket head cap screw makes connecting shaft block 23 mutually fix with motor 3.Meanwhile, the side of 23 leading portion of connecting shaft block four further respectively has one
Individual installing hole, makes embedded end cap 24 mutually fix with connecting shaft block 23 by the installing hole using the interior hexagonal hexagonal socket head cap screw of M3.
Flange coupling 21 includes ring flange and axle sleeve, and ring flange is integrally formed with axle sleeve.Three are offered on ring flange
Installing hole, is fixedly connected flange coupling 21 with wheel 4 using M6 hexagon socket head cap screws by installing hole.With flange end as a left side,
It is provided with the stepped boss of three-level on axle sleeve from left to right.Rolling bearing 22 is set on intermediate lands and its outer ring is embedded in end cap
In 24, the axial limiting side of rolling bearing 22 is provided by end cap 24, and opposite side is by the aforementioned front section of connecting shaft block 23
Platform is provided.The outer surface of intermediate lands is provided with annular groove, and axle card 25 is arranged in the annular groove.Left end boss and axle
Block the axially-movable that 25 collective effects further limit between rolling bearing 22 and shaft coupling, thus make shaft coupling and motor 3
Output shaft between have preliminary axial constraint.The upper and lower relative position of inner surface of right-hand member boss be respectively equipped with dowel hole and
Screwed hole.The output shaft of motor 3 is provided with flat key 31, flat key 31 and dowel hole tight fit connection, is that shaft coupling increased one layer of footpath
To constraint.Screw thread hole number is two, and by screwed hole two jackscrews 26 are installed, and further enhances shaft coupling and motor 3 is defeated
Constraint between shaft, makes to establish good shafting constraint between wheel 4 and the output shaft of motor 3.
It should be noted that the fixed company between flange coupling 21 and wheel 4 and between connecting shaft block 23 and motor 3
Connect mode, however it is not limited to described in the present embodiment, and when adopt be screwed when, specific installation/fixing hole number and screw
Number is not particularly limited.The innovative point of the connecting shaft mechanism 2 is the design of connecting shaft block 23, and connecting shaft block 23,
What shaft coupling and rolling bearing 22 were collectively forming constrains the good shafting between wheel 4 and the output shaft of motor 3, so as to significantly
Reduce impact of the wheel 4 to the output shaft of motor 3.
As Figure 1-3, transverse arm component includes transverse arm 1, transverse arm 2 14, transverse arm 3 15 and transverse arm 4 16, connection rod set
Part include connecting rod 1, connecting rod 2 19, and two ends respectively with consolidating that the top of connecting rod 1 and the top of connecting rod 2 19 are fixedly connected
Fixed pole 18, it is parallel that transverse arm 1, the two ends of transverse arm 2 14 are respectively hinged composition first with the left side of bracing frame 11, connecting rod 1
Quadrangular mechanism, transverse arm 3 15, the two ends of transverse arm 4 16 are respectively hinged composition second with the right edge of bracing frame 11, connecting rod 2 19
Parallel-crank mechanism, damper 12 is positioned between the first parallel-crank mechanism and the second parallel-crank mechanism and two ends point
It is not connected with middle side part on bracing frame 11 and the middle part of fix bar 18.
In the present embodiment, bracing frame 11 is overall adopts door type structure.Door type transverse part is provided with upper support seat, door type
The hypomere of two vertical parts is equipped with lower support base.Upper support seat is M type structures, and the middle at the top of M types has two parallel peaces
Dress ear mount.Lower support base is slab construction.Connecting rod 1, connecting rod 2 19 and fix bar 18 also constitute door type structure, fixed
The middle of the side of bar 18 1 also has two parallel installation ear mounts.It is left that the two ends of transverse arm 1 are hingedly connected to upper support seat
Side and the upper end of connecting rod 1, the two ends of transverse arm 2 14 are hingedly connected to the lower support base on the left side and the lower end of connecting rod 1,
Constitute the first parallel-crank mechanism.The two ends of transverse arm 3 15 are hingedly connected to the upper of upper support seat right edge and connecting rod 2 19
End, the two ends of transverse arm 4 16 are hingedly connected to the lower support base on the right and the lower end of connecting rod 1, constitute the second parallelogram
Mechanism.Further, it is the structural strength of strengthening transverse arm component, between transverse arm 1 and transverse arm 3 15, transverse arm 2 14 and horizontal stroke
Connecting plate is equipped between arm 4 16, the two ends of connecting plate are screwed on each transverse arm.The upper end of damper 12 passes through
Screw is installed ear mount and is fixedly connected with two of upper support seat, and two installation ear mounts of its lower end by screw in fix bar 18 are consolidated
Fixed connection.Further, be provided with a fixed mount (not shown) around wheel 4, the two ends of the fixed mount and connecting rod 1 and
Connecting rod 2 19 is fixedly connected.Ultrasonic sensor (not shown) is installed in the outer side edges of wheel 4 on fixed mount, for realizing
In robot moving process, the barrier avoiding function of two sides.
Suspended structure in the utility model using parallelogram principle, it is ensured that Mecanum wheel all the time with ground
Face is vertical.Simultaneously double link is employed, the intensity of structure is higher relative to the intensity of front rocking suspension.
Further, in the present embodiment, motor 3 adopts planetary reducing motor.The ring flange of planetary reducing motor is set to
Square structure.Motor 3 is located at the bottom of whole hitch 1, i.e., through the lower section of bracing frame 11, square flange is arranged in connecting rod
One 17, between connecting rod 2 19, fix bar 18, and it is screwed connection.Connecting shaft block 23 is fixed on the ring flange.It is existing
The ring flange of planetary reducing motor is circle in technology, and the square flange is fixed quite convenient for the installation of motor 3, is not limited only to
It is of the present utility model to use, when planetary reducing motor is installed on into other places, equally it is easy to fix, improve installation effectiveness.Motor 3
Deck is provided near encoder one end, driver is fixed on motor 3 by deck.The discovery of Jing utility model people many experiments,
Because in prior art, driver and motor 3 are often provided separately, if there is relative motion between driver and motor 3, just
Often occur causing to go wrong the control of motor 3 because the connection electric wire between driver and encoder loosens.Cause
And, the utility model people will be fixed together driver and motor 3, so as to solve this problem well, meanwhile, electricity
Machine 3 is also a kind of embodiment of modular design concept together with it drives the very high Elements Integration of the two degrees of correlation.
Robot vehicle body suspension system provided by the utility model, based on the core concept of modularized design, set
" motor+driving+Mecanum wheel suspended structure ", incorporates frame for movement and circuit control, define one it is individually complete
Functional module, the suspension is independent subsystem, can be combined with other product key elements as general module, composition
New system, the different function of generation or identical function, the series of products of different performance.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this reality
With new principle, it should be understood that protection domain of the present utility model is not limited to such especially statement and embodiment.
One of ordinary skill in the art these technology enlightenments can make various without departing from this practicality according to disclosed in the utility model
New other substantive various concrete deformations and combination, these deformations and combination are still in protection domain of the present utility model.
Claims (9)
1. a kind of robot vehicle body suspension system, it is characterised in that：Including hitch (1), connecting shaft mechanism (2), motor (3),
Driver and wheel (4), the hitch (1) is including bracing frame (11), link assembly, transverse arm component and damper
(12), support frame as described above (11) and link assembly, transverse arm component composition double parallel quadrangular mechanism, the damper (12) is located at
Connect bracing frame (11) and link assembly, the motor respectively between double parallel quadrangular mechanism and in its two ends of vertical direction
(3) it is fixedly connected positioned at the bottom of hitch (1) and with link assembly, the connecting shaft mechanism (2) is defeated for connecting motor (3)
Shaft and wheel (4), the driver card is on motor (3).
2. robot vehicle body suspension system according to claim 1, it is characterised in that：The connecting shaft mechanism (2) is including even
Axle box, flange coupling (21) and rolling bearing (22), the connecting shaft case includes connecting shaft block (23) and embedded end cap (24),
The connecting shaft block (23) is fixedly connected with motor (3), and the flange end of the flange coupling (21) is fixed with wheel (4) to be connected
Connect, the axle sleeve of flange coupling (21) wears end cap (24) and end is located in connecting shaft block (23) cavity, the rolling bearing
(22) inner ring is sheathed on the axle sleeve of flange coupling (21), and in the embedded end cap (24) in its outer ring, the motor (3) it is defeated
Shaft is bonded with the axle sleeve.
3. robot vehicle body suspension system according to claim 2, it is characterised in that：Axle card is arranged with the axle sleeve
(25), for limiting the axial movement of rolling bearing (22).
4. robot vehicle body suspension system according to claim 2, it is characterised in that：The rolling bearing (22) is zanjon
Ball bearing.
5. robot vehicle body suspension system according to claim 1, it is characterised in that：The transverse arm component includes transverse arm one
(13), transverse arm two (14), transverse arm three (15) and transverse arm four (16), the link assembly includes connecting rod one (17), connecting rod two
(19), and the fix bar (18) that is fixedly connected with the top of connecting rod one (17) and the top of connecting rod two (19) respectively of two ends, the horizontal stroke
It is parallel that arm one (13), the two ends of transverse arm two (14) are respectively hinged composition first with bracing frame (11) left side, connecting rod one (17)
Quadrangular mechanism, the transverse arm three (15), transverse arm four (16) two ends respectively with bracing frame (11) right edge, connecting rod two (19)
The second parallel-crank mechanism of composition is hinged, the damper (12) is positioned at parallel four side of the first parallel-crank mechanism and second
Between shape mechanism and two ends respectively with middle side part on bracing frame (11), fix bar (18) middle part.
6. robot vehicle body suspension system according to claim 1, it is characterised in that：It is additionally provided with the link assembly solid
Determine frame, the fixed mount is around wheel (4) and is provided with ultrasonic sensor thereon.
7. according to the arbitrary described robot vehicle body suspension system of claim 1-6, it is characterised in that：The wheel (4) adopts
Mecanum wheel.
8. according to the arbitrary described robot vehicle body suspension system of claim 1-6, it is characterised in that：The driver card is located at
Near one end of motor (3) encoder.
9. according to the arbitrary described robot vehicle body suspension system of claim 1-6, it is characterised in that：The motor (3) is row
Star reducing motor (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621082776.3U CN206106867U (en) | 2016-09-27 | 2016-09-27 | Robot vehicle body suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621082776.3U CN206106867U (en) | 2016-09-27 | 2016-09-27 | Robot vehicle body suspension system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206106867U true CN206106867U (en) | 2017-04-19 |
Family
ID=58521149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621082776.3U Active CN206106867U (en) | 2016-09-27 | 2016-09-27 | Robot vehicle body suspension system |
Country Status (1)
| Country | Link |
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| CN (1) | CN206106867U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427446A (en) * | 2016-09-27 | 2017-02-22 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108556581A (en) * | 2018-06-25 | 2018-09-21 | 汕头大学 | A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding |
| CN110001380A (en) * | 2019-03-27 | 2019-07-12 | 科大智能机器人技术有限公司 | A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension |
| CN110254253A (en) * | 2019-07-17 | 2019-09-20 | 合肥工业大学 | A kind of robot |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
| CN112810717A (en) * | 2021-02-03 | 2021-05-18 | 河南农业大学 | Intelligent all-terrain scooter for old people |
| US11472249B2 (en) | 2019-05-13 | 2022-10-18 | Toyota Jidosha Kabushiki Kaisha | Suspension device for vehicle |
| US11602965B2 (en) | 2019-05-13 | 2023-03-14 | Toyota Jidosha Kabushiki Kaisha | Suspension device for vehicle |
-
2016
- 2016-09-27 CN CN201621082776.3U patent/CN206106867U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427446A (en) * | 2016-09-27 | 2017-02-22 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN107571933B (en) * | 2017-08-15 | 2020-08-18 | 北京航空航天大学 | Suspension system applied to quadruped robot |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108556581A (en) * | 2018-06-25 | 2018-09-21 | 汕头大学 | A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding |
| CN110001380A (en) * | 2019-03-27 | 2019-07-12 | 科大智能机器人技术有限公司 | A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension |
| US11472249B2 (en) | 2019-05-13 | 2022-10-18 | Toyota Jidosha Kabushiki Kaisha | Suspension device for vehicle |
| US11602965B2 (en) | 2019-05-13 | 2023-03-14 | Toyota Jidosha Kabushiki Kaisha | Suspension device for vehicle |
| CN110254253A (en) * | 2019-07-17 | 2019-09-20 | 合肥工业大学 | A kind of robot |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
| CN112810717A (en) * | 2021-02-03 | 2021-05-18 | 河南农业大学 | Intelligent all-terrain scooter for old people |
| CN112810717B (en) * | 2021-02-03 | 2022-03-18 | 河南农业大学 | Intelligent all-terrain scooter for old people |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robot body suspension system Effective date of registration: 20220707 Granted publication date: 20170419 Pledgee: Chengdu laijie Technology Co.,Ltd. Pledgor: CHENGDU PROSPER TECHNOLOGY CO.,LTD. Registration number: Y2022510000196 |
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| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20221109 Granted publication date: 20170419 |