CN206561752U - A kind of Mecanum wheel with dead-man's device - Google Patents
A kind of Mecanum wheel with dead-man's device Download PDFInfo
- Publication number
- CN206561752U CN206561752U CN201621360865.XU CN201621360865U CN206561752U CN 206561752 U CN206561752 U CN 206561752U CN 201621360865 U CN201621360865 U CN 201621360865U CN 206561752 U CN206561752 U CN 206561752U
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- motor
- brake
- guide
- axis
- wheel hub
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Abstract
A kind of Mecanum wheel with dead-man's device, motor driver from driving force to moving device, brake gear including moving device, for providing, brake drive device from driving force to brake gear and controller for providing, described motor driver is connected with the moving device, and the brake block of the brake gear coordinates with the moving device；The brake drive device is connected with the brake gear；Control end of the control end of the control end of the motor driver and the brake drive device respectively with the controller is connected.The beneficial effects of the utility model are：The Mecanum wheel can accurately control its direct of travel according to system requirements, improve sport efficiency, and effectively controlling organization can brake.
Description
Technical field
The utility model is related to a kind of Mecanum wheel with dead-man's device.
Background technology
Mecanum wheel includes uniformly offering 3 or more than 3 at wheel hub and driven disk roller, the excircle of the wheel hub
A driven disk roller, the radial direction of the driven disk roller and cutting for wheel hub excircle are equiped between wheel hub tooth, each two wheel hub tooth
Line direction angle at 45 °, thus can be combined by controlling the rotary speed of wheel hub come the direction of travel and velocity magnitude of control system,
Realize the omnibearing movable of system.Mecanum wheel can with original place 360 degree turn-take, it is possible to achieve forward, traversing, diagonal, rotation
And combinations thereof wait motion mode, be widely used in many occasions, still, Mecanum wheel is compared due to coefficient of friction
Small, efficiency each side is not very high, often there is skidding.The driven disk roller of general Mecanum wheel be able to can occur during traveling
Traversing, diagonal, therefore, it is impossible to the direct of travel of accurate controlling organization, and can not positive braking, compare in some precision prescribeies
High occasion can not extensive use.
The content of the invention
In order to overcome existing Mecanum wheel can not accurately be controlled during traveling its direct of travel and stopping when not
The deficiency of energy positive braking, the utility model provides a kind of Mecanum wheel, and the Mecanum wheel can be accurate according to system requirements
Really control its direct of travel, improve sport efficiency, and can effectively controlling organization brake the wheat with dead-man's device
Ke Namu takes turns.
A kind of Mecanum wheel with dead-man's device described in the utility model, it is characterised in that：Including advancing
Device, for providing the motor driver of driving force, brake gear, for providing driving force to brake gear to moving device
Brake drive device and controller, described motor driver is connected with the moving device, the brake gear
Brake block and the moving device coordinate；The brake drive device is connected with the brake gear；The motor driving dress
Control end of the control end and the control end of the brake drive device put respectively with the controller is connected；
The moving device includes inner wheel hub, fixing closing plate, driven disk roller, thread spindle and ring flange, the inner wheel hub
Both ends of the surface encapsulate the fixing closing plate respectively, and the fixing closing plate is affixed with motor plate by ring flange, outside the fixing closing plate
Edge is circumferentially with some pony rolls and installs blade；The driven disk roller is corresponding from different fixing closing plates two small by rolling axle
Roller installs blade and rotates connection；The thread spindle runs through the central through hole of the inner wheel hub, and the first end of the thread spindle
Portion is connected by being supported on the rolling bearing of the inner wheel hub central through hole with the power output shaft of the motor driver, the
Two ends are connected by shaft coupling with the power output shaft of the brake drive device；
The motor driver includes motor plate, motor and reductor, and the motor plate is provided with to be used to accommodate and advanced
The groove of device and drive device of braking, the motor, the reductor are mounted in the electricity positioned at thread spindle first end side
On machine plate, the input shaft of the output shaft of the motor and the reductor is affixed, and the output shaft of the reductor passes through motor plate
On first through hole and the first end of the thread spindle it is affixed；
The brake gear includes rolling fin, first axis of guide, slide assemblies, second axis of guide and brake block, described
The second end of rolling fin and thread spindle is affixed, and the inner face of the rolling fin is oriented to equipped with least one first
Axle, first axis of guide is slidably connected with the pre- slide assemblies on thread spindle, and the slide assemblies outer wall is provided with
Smooth surface, and the distance of the smooth surface and slide assemblies central shaft is cumulative along slide assemblies the inner to outer extreme direction；Institute
Stating brake block outer surface and being provided with is used to roll the curved surface that outer wall coordinates, the brake block and second axis of guide with driven disk roller
Upper end be spirally connected；The smooth surface sliding contact with the slide assemblies after inner wheel hub is run through in second axis of guide lower end；
The brake drive device includes servomotor and servomotor fixed plate, and the servomotor fixed plate is arranged on
On the motor plate of thread spindle the second end, the servomotor is arranged in the servomotor fixed plate, and described
The second end of the output shaft of servomotor and the thread spindle is affixed.
The pony roll of two pieces of fixing closing plate outer rims is installed blade and shifted to install, and two-by-two pony roll install described in blade from
Dynamic disk roller is arranged in different fixing closing plates between corresponding two pony rolls installation blade by rolling axle, described driven disk roller
It is covered with whole inner wheel hub surface, and the slope trend of driven disk roller is consistent, central shaft and the inner wheel hub center axle clamp of rolling axle
Angle is 45 °.
The slide assemblies are divided into the major diameter in the sliding part positioned at outside and the round platform portion, wherein round platform positioned at inner side
End is connected with the sliding part；The sliding part is the cylinder with centre bore, and the side wall of the sliding part is led provided with being caught in first
To chute and for the chute of its slip.
The inner wheel hub is the cylinder with central through hole, and the both sides end face of inner wheel hub carries boss, the lubrication groove
Multiple special-shaped shrinkage pools for being used to run through second axis of guide are uniform-distribution with the external cylindrical surface of hub, special-shaped shrinkage pool is divided into the circle in outside
The square hole section of hole section and inner side.
Buffer unit is provided between the brake block and second axis of guide, the buffer unit includes spring and two panels
Shaft coupling iron plate, the shaft coupling iron plate is separately mounted to the shaft coupling iron plate and second axis of guide at the both ends of spring, wherein one end
Installation portion is affixed, and the shaft coupling iron plate and brake block of the other end are affixed, it is ensured that whole spring housing is on the top of second axis of guide；Institute
The middle part for stating second axis of guide is provided with the square protruding matched with special-shaped shrinkage pool, and the shaft coupling iron plate of the end of spring is arranged on
At square protruding.
It is connected between the slide assemblies and thread spindle, between the servomotor and thread spindle by shaft coupling.
As shown in figure 1, Mecanum wheel drives work jointly by motor and servomotor, when motor work and servomotor
When not working, Mecanum wheel is all around moved under the driving of motor according to system requirements, this working condition with it is general
Mecanum wheel function it is the same；When motor does not work and servomotor works, i.e., in the stop motion of system requirements mechanism,
Motor closes stop motion, but due to the factor of driven disk roller, general Mecanum wheel can not stop motion immediately, now,
Servomotor works, and promotes brake block promptly to touch driven disk roller, driven disk roller stops operating, so as to reach the work accurately braked
With；When motor and servomotor work simultaneously, motor drives inner wheel hub to move by decelerator, and servomotor prevents driven voller
Wheel motion, prevention Mecanum wheel is traversing, oblique shifting, so as to accurately control its direct of travel, improve sport efficiency.
In fig. 2, driven disk roller is slidably connected by rolling axle with fixing closing plate, the radial direction and wheel hub of driven disk roller
The tangential direction angle at 45 ° of excircle.
In the fig. 3 embodiment, when motor does not work and servomotor works, i.e., in the stop motion of system requirements mechanism
When, motor closes stop motion, and servomotor is started working, and rolling fin starts along first under the driving of servomotor
The direction of the axis of guide is internally moved, and when rolling fin contact slide component and when continuing to move to, the slide assemblies other end is touched
One end of second axis of guide, and promote the second guiding axially outer to move, the brake being interference fitted with second axis of guide other end
Piece starts to contact driven disk roller, and when servomotor driving force is sufficiently large, by a series of above-mentioned processes, brake block is promptly touched
Driven disk roller, so as to reach the effect accurately braked.
In Fig. 4, Fig. 5, inner wheel hub is shaped as cylinder, and both sides carry boss, wherein uniformly divide on the boss of side
Cloth 4 circular holes, and two top and bottom of cylinder are uniform-distribution with the screwed hole being connected with fixing closing plate, and middle part is through hole, circle
12 special-shaped shrinkage pools are uniform-distribution with cylinder, the head shape of shrinkage pool is cylinder, and bottom is square.
In figure 6, the shape point top of slide assemblies is round platform, bottom be on cylinder, cylinder symmetrical two it is U-shaped
Groove, the middle part of slide assemblies is tapped through hole.
In the figure 7, thread spindle one end is connected by rolling bearing with decelerator, and the thread spindle other end is by shaft coupling with watching
Motor connection is taken, slide assemblies are connected by shaft coupling with thread spindle, second axis of guide one end and slide assemblies sliding contact, the
Two axis of guides are uniformly distributed on inner wheel hub.
The beneficial effects of the utility model are：The Mecanum wheel can accurately control its traveling side according to system requirements
To, improve sport efficiency, and can effectively controlling organization brake.
Brief description of the drawings
Fig. 1 is integrated model schematic diagram of the present utility model.
Fig. 2 is the structural representation of driven voller wheel hub.
Fig. 3 is brake device structure schematic diagram.
Fig. 4 is inner wheel hub structural representation.
Fig. 5 is lubrication groove hub structure half-sectional view.
Fig. 6 is slide assemblies structural representation.
Fig. 7 is Mecanum wheel part-structure sectional view.
Embodiment
The utility model is further illustrated below in conjunction with the accompanying drawings
Referring to the drawings：
A kind of Mecanum wheel with dead-man's device described in the utility model of embodiment 1, it is characterised in that：Bag
Include moving device 1, for providing the motor driver 2 of driving force, brake gear 3, for brake gear to moving device
The brake drive device 4 and controller of driving force are provided, described motor driver 2 is connected with the moving device 1,
The brake block of the brake gear 3 coordinates with the moving device 1；The brake drive device 4 and the phase of brake gear 3
Even；The control of the control end of the control end of the motor driver 2 and the brake drive device 4 respectively with the controller
End processed is connected；
The moving device 1 includes inner wheel hub 11, fixing closing plate 12, driven disk roller 13, thread spindle 14 and ring flange 15, institute
The both ends of the surface for stating inner wheel hub 11 encapsulate the fixing closing plate 12 respectively, and flange is passed through between the fixing closing plate 12 and motor plate 21
The bolt connection of disk 15；The outer rim of fixing closing plate 12 is circumferentially with some pony rolls and installs blade 121；The driven disk roller 13 passes through
Two pony rolls corresponding from different fixing closing plates 12 of rolling axle 131 install blade 121 and rotate connection；The thread spindle 14 runs through
The central through hole of the inner wheel hub 11, and the first end of the thread spindle 14 is logical by being supported on the center of inner wheel hub 11
The rolling bearing 111 in hole is connected with the power output shaft of the motor driver 2, and (output shaft of reductor is the motor
The power output shaft of drive device), the second end is connected (institute by shaft coupling with the power output shaft of the brake drive device
The power output shaft for stating brake drive device is the output end of servomotor)；
The motor driver 2 includes motor plate 21, motor 22 and reductor 23, and the motor plate 21, which is provided with, to be used for
The groove of moving device and drive device of braking is accommodated, the motor 22, the reductor 23 are by bolt and positioned at spiral shell
The motor plate 21 of the first end side of line axle 14 is affixed, and the input shaft of the output shaft of the motor 22 and the reductor 23 is consolidated
Connect, the output shaft of the reductor 23 is affixed through the first through hole and the first end of the thread spindle 14 on motor plate 21；
The brake gear 3 includes rolling fin 31, first axis of guide 32, slide assemblies 33, second axis of guide 34 and stopped
Car piece 35, the rolling fin 31 is affixed by the second end of axle bed and thread spindle 14, and the rolling fin 31 is interior
End surface symmetric is equipped with two along the first axially arranged axis of guide 32 of rolling fin 31, and the rolling fin is oriented to described first
Axle is interference fitted；First axis of guide 32 is slidably connected with the pre- slide assemblies 33 on thread spindle 14, the cunning
The dynamic outer wall of component 33 is provided with smooth surface, and the distance of the smooth surface and slide assemblies central shaft is arrived along slide assemblies the inner
Outer extreme direction is cumulative；The outer surface of brake block 35, which is provided with, to be used to roll the curved surface that outer wall coordinates with driven disk roller 13, described to stop
The upper end of car piece 35 and second axis of guide 34 is spirally connected (being to play a part of buffering)；The lower end of second axis of guide 34 is passed through
Wear the smooth surface sliding contact with the slide assemblies 33 after inner wheel hub 11, and between the brake block and driven disk roller between
Gap depth is between the smooth surface and the ultimate range and beeline of slide assemblies central shaft；
The brake drive device 4 includes servomotor 41 and servomotor fixed plate 42, the servomotor fixed plate
42 are mounted on the motor plate 21 of the second end of thread spindle 14, and the servomotor 41 passes through bolt and the servomotor
Fixed plate 42 is affixed, and the second end of the output shaft of the servomotor 41 and the thread spindle 14 is affixed.
The pony roll of two pieces of outer rims of fixing closing plate 12 is installed blade 121 and shifted to install, and pony roll installs blade two-by-two
Driven disk roller described in 121 by rolling axle 131 be arranged on corresponding two pony rolls in different fixing closing plates 12 install blade 121 it
Between, described driven disk roller 13 is covered with the whole surface of inner wheel hub 11, and the slope trend of driven disk roller 13 is consistent, rolling axle
131 central shaft and the central shaft angle of inner wheel hub 11 are 45 °.
33 points of the slide assemblies are the sliding part 331 positioned at outside and the round platform 332 positioned at inner side, wherein round platform
332 larger diameter end is connected with the sliding part 331；The sliding part 331 is the cylinder with centre bore, the sliding part 331
Side wall be provided be caught in first axis of guide 32 and for its slip chute 333.
The inner wheel hub 11 is the cylinder with central through hole, and the both sides end face of inner wheel hub 11 carries boss, described
Be uniform-distribution with the external cylindrical surface of inner wheel hub 11 12 be used for run through second axis of guide special-shaped shrinkage pool 112, special-shaped shrinkage pool 112
It is divided into the circular hole portion in outside and the square hole section of inner side.
Buffer unit is provided between the brake block 35 and second axis of guide 34, the buffer unit 36 includes spring
361 and two panels shaft coupling iron plate 362, the shaft coupling iron plate 362 is separately mounted to the connection at the both ends of spring 361, wherein one end
Axle iron plate 362 and the installation portion of second axis of guide 34 are affixed, and the shaft coupling iron plate 362 and brake block 35 of the other end are affixed, it is ensured that whole
Individual spring 361 is enclosed on the top of second axis of guide 34；The middle part of second axis of guide 34 is provided with the side matched with special-shaped shrinkage pool
Shape is raised, and the shaft coupling iron plate 362 of the end of spring 361 is arranged at square protruding.
Between the slide assemblies 33 and thread spindle 14, between the second end of the servomotor 41 and thread spindle 14
It is connected by shaft coupling 411.
As shown in figure 1, Mecanum wheel is by motor 22 and the driving work jointly of servomotor 41, when motor 22 works and watches
When taking motor 41 and not working, Mecanum wheel is all around moved under the driving of motor 22 according to system requirements, this work
State is as general Mecanum wheel function；When motor 22 do not work and servomotor work 41 when, i.e., in system requirements
During mechanism stop motion, motor 22 closes stop motion, but due to the factor of driven disk roller 13, general Mecanum wheel can not
Stop motion immediately, now, servomotor work promote brake block promptly to touch driven disk roller 13, and driven disk roller 13 stops turning
It is dynamic, so as to reach the effect accurately braked；When motor 22 and servomotor 41 work simultaneously, motor 22 is driven by decelerator 23
Dynamic inner wheel hub 11 is moved, and servomotor 41 prevents driven disk roller 13 from moving, and prevention Mecanum wheel is traversing, oblique shifting, so that accurately
Control its direct of travel, improve sport efficiency.
In fig. 2, driven disk roller 13 is slidably connected by rolling axle 131 with fixing closing plate 12, the radial direction of driven disk roller 13
Direction and the tangential direction angle at 45 ° of wheel hub excircle.
In the fig. 3 embodiment, when motor 22 do not work and servomotor work 41 when, i.e., system requirements mechanism stopping
During motion, motor 22 closes stop motion, and servomotor 41 starts working, rolling fin 31 under the driving of servomotor 41,
Start internally to move along the direction of first axis of guide 32, when the contact slide component 33 of rolling fin 31 and when continuing to move to,
The other end of slide assemblies 33 touches one end of second axis of guide 34, and promotes second axis of guide 34 mobile to outside, is led with second
The brake block 35 being interference fitted to the other end of axle 34 starts to contact driven disk roller 13, when the driving force of servomotor 41 is sufficiently large,
By a series of above-mentioned processes, brake block 35 promptly touches driven disk roller 13, so as to reach the effect accurately braked.
In Fig. 4, Fig. 5, inner wheel hub 11 is shaped as cylinder, and both sides carry boss, uniform wherein on the boss of side
4 circular holes are dispersed with, two top and bottom of cylinder are uniform-distribution with the screwed hole being connected with fixing closing plate 12, and middle part is logical
12 special-shaped shrinkage pools are uniform-distribution with hole, the face of cylinder, the head shape of shrinkage pool is cylinder, and bottom is square.
In figure 6, the shape point top of slide assemblies 33 is round platform, bottom be on cylinder, cylinder symmetrical two it is U-shaped
Groove, the middle part of slide assemblies is tapped through hole.
In the figure 7, the one end of thread spindle 14 is connected by rolling bearing 111 with decelerator 23, and the other end of thread spindle 14 passes through
Shaft coupling 411 is connected with servomotor 41, and slide assemblies 33 are connected by shaft coupling 331 with thread spindle 14, second axis of guide 34
One end and the sliding contact of slide assemblies 33, second axis of guide 34 are uniformly distributed on inner wheel hub 11.
Content described in this specification embodiment is only enumerating to the way of realization of utility model design, and this practicality is new
The protection domain of type is not construed as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model is also wrapped
Include those skilled in the art according to the utility model conceive it is conceivable that equivalent technologies mean.
Claims (6)
1. a kind of Mecanum wheel with dead-man's device, it is characterised in that：Including moving device, for moving device
There is provided the motor driver of driving force, brake gear, the brake drive device for providing driving force to brake gear and
Controller, described motor driver is connected with the moving device, and the brake block of the brake gear is filled with described advance
Put cooperation；The brake drive device is connected with the brake gear；The control end of the motor driver and described stop
Control end of the control end of car drive device respectively with the controller is connected；
The moving device includes inner wheel hub, fixing closing plate, driven disk roller, thread spindle and ring flange, the two ends of the inner wheel hub
Face encapsulates the fixing closing plate respectively, and the fixing closing plate is affixed with motor plate by ring flange, the fixing closing plate outer circumference
Blade is installed to provided with some pony rolls；The driven disk roller is pacified by rolling axle two pony rolls corresponding from different fixing closing plates
Fill blade and rotate connection；The thread spindle runs through the central through hole of the inner wheel hub, and the first end of the thread spindle leads to
Cross and be supported on the rolling bearing of the inner wheel hub central through hole and be connected with the power output shaft of the motor driver, the second end
Portion is connected by shaft coupling with the power output shaft of the brake drive device；
The motor driver includes motor plate, motor and reductor, and the motor plate, which is provided with, to be used to accommodate moving device
And the groove of brake drive device, the motor, the reductor are mounted in the motor plate positioned at thread spindle first end side
On, the input shaft of the output shaft of the motor and the reductor is affixed, and the output shaft of the reductor is passed through on motor plate
First through hole and the first end of the thread spindle are affixed；
The brake gear includes rolling fin, first axis of guide, slide assemblies, second axis of guide and brake block, the guiding
The second end of disk and thread spindle is affixed, and the inner face of the rolling fin is equipped with least one first axis of guide, institute
State first axis of guide to be slidably connected with the pre- slide assemblies on thread spindle, the slide assemblies outer wall is provided with smooth
Curved surface, and the distance of the smooth surface and slide assemblies central shaft is cumulative along slide assemblies the inner to outer extreme direction；It is described to stop
Car piece outer surface, which is provided with, to be used to roll the curved surface that outer wall coordinates with driven disk roller, and the brake block is upper with second axis of guide
End is spirally connected；The smooth surface sliding contact with the slide assemblies after inner wheel hub, and institute are run through in second axis of guide lower end
State gap depth between brake block and driven disk roller between the smooth surface and slide assemblies central shaft ultimate range with
Between beeline；
The brake drive device includes servomotor and servomotor fixed plate, and the servomotor fixed plate is mounted on
On the motor plate of thread spindle the second end, the servomotor is arranged in the servomotor fixed plate, and the servo
The second end of the output shaft of motor and the thread spindle is affixed.
2. a kind of Mecanum wheel with dead-man's device as claimed in claim 1, it is characterised in that：Two pieces described solid
The pony roll installation blade for determining shrouding outer rim is shifted to install, and the driven disk roller is arranged on different fixing closing plates by rolling axle
Upper corresponding two pony rolls are installed between blade, and described driven disk roller is covered with whole inner wheel hub surface, and driven disk roller
Slope trend is consistent, and central shaft and the inner wheel hub central shaft angle of rolling axle are 45 °.
3. a kind of Mecanum wheel with dead-man's device as claimed in claim 1, it is characterised in that：The Slide Group
Part is divided into the sliding part positioned at outside and the round platform portion positioned at inner side, and the wherein larger diameter end of round platform connects with the sliding part
Connect；The sliding part is the cylinder with centre bore, and the side wall of the sliding part, which is provided with, is caught in the first guide chute and for its slip
Chute.
4. a kind of Mecanum wheel with dead-man's device as claimed in claim 2, it is characterised in that：The inner wheel hub
Both sides end face for the cylinder with central through hole, and inner wheel hub is carried on boss, the external cylindrical surface of the inner wheel hub uniformly
Multiple special-shaped shrinkage pools for being used to run through second axis of guide are dispersed with, special-shaped shrinkage pool is divided into the circular hole portion in outside and the square hole of inner side
Section.
5. a kind of Mecanum wheel with dead-man's device as claimed in claim 1, it is characterised in that：Brake block and
Buffer unit is provided between two axis of guides, the buffer unit includes spring and two panels shaft coupling iron plate, the shaft coupling iron plate difference
Installed in the both ends of spring, the wherein shaft coupling iron plate of one end and the second axis of guide installation portion is affixed, the shaft coupling of the other end
Iron plate is affixed with brake block, it is ensured that whole spring housing is on the top of second axis of guide；The middle part of second axis of guide be provided with
The square protruding of special-shaped shrinkage pool matching, and the shaft coupling iron plate of the end of spring is arranged at square protruding.
6. a kind of Mecanum wheel with dead-man's device as claimed in claim 1, it is characterised in that：The Slide Group
It is connected between part and thread spindle, between the servomotor and thread spindle by shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360865.XU CN206561752U (en) | 2016-12-13 | 2016-12-13 | A kind of Mecanum wheel with dead-man's device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621360865.XU CN206561752U (en) | 2016-12-13 | 2016-12-13 | A kind of Mecanum wheel with dead-man's device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206561752U true CN206561752U (en) | 2017-10-17 |
Family
ID=60029287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621360865.XU Expired - Fee Related CN206561752U (en) | 2016-12-13 | 2016-12-13 | A kind of Mecanum wheel with dead-man's device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206561752U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528139A (en) * | 2018-04-09 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of directional wheel device, robot and its control method |
-
2016
- 2016-12-13 CN CN201621360865.XU patent/CN206561752U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528139A (en) * | 2018-04-09 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of directional wheel device, robot and its control method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171017 Termination date: 20201213 |
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| CF01 | Termination of patent right due to non-payment of annual fee |