CN209274758U - The horizontal attitude loading stair climbing robot of wheel-leg combined type - Google Patents
The horizontal attitude loading stair climbing robot of wheel-leg combined type Download PDFInfo
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- CN209274758U CN209274758U CN201822109903.XU CN201822109903U CN209274758U CN 209274758 U CN209274758 U CN 209274758U CN 201822109903 U CN201822109903 U CN 201822109903U CN 209274758 U CN209274758 U CN 209274758U
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Abstract
A kind of horizontal attitude loading stair climbing robot for wheel-leg combined type that the utility model is announced, including walking chassis unit, Frame unit and building Retractive leg system is climbed, walking chassis unit includes sole, and setting is used for the driving wheel of flat pavement running on sole；Climbing building Retractive leg system includes four front stretching legs, the linear guide that Retractive leg and the front and back being arranged on the outside of Frame unit top surface extend after two, it is one in front and one in back slidably connected two pieces by sliding block in linear guide and slides bearing plate, it is connected between two pieces of sliding bearing plates by bearing plate link block, the lower surface that the left and right sides of two pieces of sliding bearing plates reaches the part outside Frame unit is separately installed with front stretching leg, Retractive leg is separately positioned on the position that Frame unit left and right sides inside top surface leans on Frame unit rear end after two, the lower end of Retractive leg is connected by rear-wheel fixed plate after this two, rear-wheel fixed plate is located at below sole, there are two rear directional wheels for rear-wheel fixed plate following settings.Stair can be crossed, various landform are adapted to.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to building is climbed in a kind of horizontal attitude loading of wheel-leg combined type
Robot.
Background technique
Now with the rising of economic level, the increase of people's disposable income allows one to purchase service-delivery machine
People and its service obtain more free times to liberate the simple duplication of labour.
Especially for delivery industry and industry is taken out, the important idea of service is to save the time for people, bring
Convenience in life.For express self-taking point, pickup number is more, and expending can not estimate in the time for being lined up pickup, this is
For Express Logistics last one kilometer problem.Meanwhile supermarket shopping etc. equally produces the need for carrying article in mankind's daily life
It asks.In the case that the weight of cargo is excessive or people is beyond power, an even more problem.Therefore, loading robot is answered
Use logistics distribution, weight carry and the scenes such as the trip that solves the problems, such as handicapped crowd in, before there is development well
Scape.
Robot environment's adaptability has been largely fixed the application range of robot.As described previously for material holder
Device people, Yao Gengjia effectively offer convenience for people's lives, and the kinematic system for not requiring nothing more than robot can face flat road
Environment, but also robot is wanted to adapt to Route for pedestrians environment.Firstly, moving energy based on locomitivity on flat road
Power is that robot motion's system adapts to essential to actual environment.Furthermore for Route for pedestrians environment, stair are as people
Most common in row environment is also a kind of most generally existing roadblock, and the maneuverability of Yao Tigao robot can cross the barrier such as stair
Hinder the key point for becoming the design of robot motion's system.
The merchandising machine people of existing market is stronger in the ability of flat overground locomotion, but he crosses the abilities of the obstacles such as stair compared with
Difference does not have this ability, therefore is restricted very much in practice scene.
Summary of the invention
In view of the above technical problems, the utility model is intended to provide a kind of wheel-leg combined type that can cross the obstacles such as stair
Horizontal attitude loading stair climbing robot.
For this purpose, the technology employed by the present utility model is a kind of horizontal attitude loading climbing machine of wheel-leg combined type
Device people, it is characterised in that: including vehicle frame and climb building Retractive leg system, the vehicle frame includes walking chassis unit and Frame unit,
The walking chassis unit includes sole, and setting is used for the driving wheel of flat pavement running on sole；
The Frame unit is arranged on sole, the space that cargo is placed on the Frame unit and sole surrounds
It is interior；
The building Retractive leg system of climbing includes four front stretching legs, Retractive leg and Frame unit top surface is arranged in after two
The linear guide that front and back extends, is one in front and one in back slidably connected two pieces by sliding block in the linear guide and slides bearing plate, and two
It is reciprocal that block sliding bearing plate can control the front and back in linear guide by the actuating device of the linear motion being mounted in Frame unit
It slides, is connected between two pieces of sliding bearing plates by bearing plate link block, the left and right ends point of two pieces of sliding bearing plates
It does not reach outside the left and right sides of Frame unit, the left and right sides of two pieces of sliding bearing plates reaches the following table of the part outside Frame unit
Face is separately installed with the front stretching leg, and Retractive leg is separately positioned on Frame unit left and right sides inside top surface by vehicle frame list after two
The position of first rear end, Retractive leg is symmetrical arranged along the cross central line of vehicle frame after this two, and the lower end of Retractive leg is stretched after this two
It below to sole, and is connected by rear-wheel fixed plate, there are two rear directional wheels for the rear-wheel fixed plate following settings.
In above scheme: driving wheel being respectively set on four angles of the sole, the driving wheel includes wheat wheel, wheat
Turbin generator and shaft coupling, the wheat turbin generator are connect by shaft coupling with wheat wheel drive.
In above scheme: the front stretching leg and rear Retractive leg are electric pushrod.
In above scheme: the sole is by forward and backward longitudinal beam, two root long transverse beams, two short transverse beams and one
Longitudinal beam surrounds, and two long transverse beams and middle longitudinal beam surround] shape frame, two short transverse beams are connected to middle longitudinal beam
Back side and middle longitudinal beam surround π shape, the frame that two long transverse beams, middle longitudinal beam and two short transverse beams surround
Son is connected between the middle part of forward and backward longitudinal beam, and the rear-wheel fixed plate is located at below two short transverse beam.
In above scheme: the Frame unit includes four outer vertical beams and four interior vertical beams, and four described outer vertical
Beam is separately positioned on the both ends of forward and backward longitudinal beam, wherein the both ends of middle longitudinal beam are arranged in two interior vertical beams, in addition in two
Vertical beam is arranged on preceding longitudinal beam, and four interior vertical beams surround rectangle rack, between two outer vertical beams of front side and rear side
Two outer vertical beams between be connected by upper longitudinal beam, pass through two upper transverse beam phases between front side and the upper longitudinal beam of rear side
Even, two upper transverse beams are also respectively connected on the top of the interior vertical beam at middle longitudinal beam both ends, before the linear guide is connected to
Between side and the upper longitudinal beam of rear side, and the linear guide is located between two upper transverse beams, and the rear Retractive leg setting exists
The rear end of two upper transverse beams.
In above scheme: it is provided with support board between the preceding longitudinal beam, middle longitudinal beam and two long transverse beams, it is left
It is provided with side baffle between two interior vertical beams of side and between two interior vertical beams on right side, two on the middle longitudinal beam
Rear baffle is provided in root between vertical beam, overhead gage, the support board, side block are provided between the top of four interior vertical beams
Plate, rear baffle and overhead gage surround the cabinet for arrangement of goods.Cabinet is located in vehicle frame, and center of gravity is low, runs smoothly, and guarantees goods
The safety of object.
In above scheme: the actuating device of the linear motion is electric pushrod, and the electric pushrod is mounted on Frame unit
Rear side upper longitudinal beam on.
In above scheme: the actuating device of the linear motion includes stepper motor and gear and rack teeth mechanism, the gear teeth
The rack gear of mechanism is arranged in Frame unit top surface, and the rack gear is arranged in parallel with linear guide, in the loading bearing plate
Bottom surface is equipped with gear, and the wheel and rack engagement, the gear is driven by stepper motor to be rotated.Gear rotation, drives
Rack gear is mobile, to realize the movement of vehicle frame or realize the movement of bearing plate.
The beneficial effects of the utility model are: the horizontal attitude loading stair climbing robot of the wheel-leg combined type of the utility model
It is able to achieve the stable operation on flat road, while when encountering terraced bank, stair can be crossed, adapt to various landform, delivers goods
Object high reliablity can be used for the carrying of express delivery, take-away and cargo.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiments of the present invention 1.
Fig. 2 is lateral side view.
Fig. 3 is right side view.
Fig. 4 is bottom view.
Fig. 5 is the frame diagram of the utility model.
Fig. 6 is partial enlarged view at A in Fig. 1.
The building Tu7Wei Pa schematic diagram 1.
The building Tu8Wei Pa schematic diagram 2.
The building Tu9Wei Pa schematic diagram 3.
Figure 10 is to climb building schematic diagram 4.
Figure 11 is to climb building schematic diagram 5.
Figure 12 is to climb building schematic diagram 6.
Figure 13 is to climb building schematic diagram 7.
Figure 14 is the structural schematic diagram of embodiment 2.
Specific embodiment
By way of example and in conjunction with the accompanying drawings, the utility model is described in further detail:
The noun of locality " preceding " of the utility model refers to the direction that robot advances, and " rear " and " preceding " relatively, refers to robot
The direction of retrogressing, "left", "right" refer to the width direction of sole.
Embodiment 1, as shown in figures 1-13, the horizontal attitude loading stair climbing robot of wheel-leg combined type by vehicle frame, climb building and stretch
Contracting leg system and for object of freighting cabinet form, vehicle frame includes walking chassis unit and Frame unit.
Walking chassis unit includes the driving wheel that sole and driving robot travel on level road.
Wherein sole is surrounded by forward and backward longitudinal beam 1, two root long transverse beams, 2, two short transverse beams 3 and middle longitudinal beam 4,
Two root long transverse beams 2 are surrounded with middle longitudinal beam 4] shape frame, two short transverse beam 3 be connected to middle longitudinal beam 4 back side and middle longitudinal direction
Beam 4 surrounds π shape, that is to say, that short transverse beam 3 is located at the not ipsilateral of middle longitudinal beam 4, two root long transverse beams with long transverse beam 2
2, the shelf that middle longitudinal beam 4 and two short transverse beam 3 surround is connected between the middle part of forward and backward longitudinal beam 1.It is wherein long lateral
Beam 2 is located at front.
Driving wheel is respectively set on four angles of sole, driving wheel includes wheat wheel 5, wheat turbin generator 6 and shaft coupling, wheat
Turbin generator 6 is drivingly connected by shaft coupling and wheat wheel 5.
Frame unit be arranged on sole, Frame unit include four outer vertical beams 7 and four interior vertical beams 8, four
Outer vertical beam 7 is separately positioned on the both ends of forward and backward longitudinal beam 1, wherein the both ends of middle longitudinal beam 4 are arranged in two interior vertical beams 8,
Other two interior vertical beams 8 are arranged on preceding longitudinal beam 1, and four interior vertical beams 8 surround rectangle rack, two outer vertical beams of front side
It is connected between 7 and by upper longitudinal beam 9 between two outer vertical beams 7 of rear side, leads between front side and the upper longitudinal beam 9 of rear side
It crosses two upper transverse beams 10 to be connected, two upper transverse beams 10 are also respectively connected on the top of the interior vertical beam 8 at middle 4 both ends of longitudinal beam
End, i.e., upper transverse beam 10 connect the upper longitudinal beam 9 of two of the same side interior vertical beams 8 and front and back side, linear guide 11
It is connected between front side and the upper longitudinal beam 9 of rear side, and linear guide 11 is located between two upper transverse beams 10.
It is provided with support board 12 between preceding longitudinal beam 1, middle longitudinal beam 4 and two root long transverse beams 2, it is vertical in two of left side
Side baffle 13 is provided between the interior vertical beam 8 of two of between beam 8 and right side, two interior vertical beams 8 on middle longitudinal beam 4 it
Between be provided with rear baffle 14, be provided with overhead gage 15 between the top of four interior vertical beams 8, support board 12, side baffle 13, rear gear
Plate 14 and overhead gage 15 surround the cabinet for arrangement of goods, and setting support board 12 can be also layered in cabinet.
Climbing building Retractive leg system includes Retractive leg 17 and linear guide 11 after four front stretching leg 16, two, front stretching leg
16 and rear Retractive leg 17 be motion bar in electric pushrod, including electric pushrod outer cylinder and electric pushrod (this is the prior art),
The lower end of motion bar is provided with circular base plate and plays a supporting role.Interior motion bar extends downwards, and Retractive leg is elongated, raises.
It is one in front and one in back slidably connected two pieces by sliding block in linear guide 11 and slides bearing plate 18, two pieces of sliding bearing plates
18 can slide back and forth in linear guide 11, and two pieces of sliding bearing plates 18 are driven by the linear motion being mounted in Frame unit
Device control front and back in linear guide reciprocatingly slides, and actuating device of the linear motion a includes stepper motor and gear and rack teeth mechanism,
The rack gear 22 of gear and rack teeth mechanism is arranged in Frame unit top surface, and rack gear 22 is arranged in parallel with linear guide 11, in each loading
The bottom surface of bearing plate 18 is equipped with gear, and wheel and rack 22 engages, and gear is driven by stepper motor to be rotated.Rack-and-pinion and
Stepper motor is this field routine techniques as linear drive apparatus, therefore stepper motor is not drawn into Fig. 1, does not show tooth
Wheel.
It is connected between two pieces of sliding bearing plates 18 by bearing plate link block 19, the left and right end point of two pieces of sliding bearing plates 18
It does not reach outside the left and right sides of Frame unit, the left and right sides of two pieces of sliding bearing plates 18 reaches the lower surface of the part outside Frame unit
It is separately installed with front stretching leg 16, Retractive leg 17 is separately positioned on the left and right sides of the inside top surface of Frame unit by vehicle frame after two
The rear end of two upper transverse beams 9 is arranged in the position of unit rear end, specific rear Retractive leg 17, and rear Retractive leg 17 is located at middle longitudinal direction
Between beam 4 and rear longitudinal beam 1, Retractive leg 17 is symmetrical arranged along the cross central line of Frame unit after this two, rear Retractive leg 17
Lower end reach below sole and connected by rear-wheel fixed plate 20, rear-wheel fixed plate 20 be located at two hyphens of sole to
The lower section of beam 3, there are two rear directional wheels 21 for 20 following settings of rear-wheel fixed plate.
Embodiment 2
Other are same as Example 1, unlike, as shown in figure 14, actuating device of the linear motion a is electric pushrod, electricity
Dynamic push rod is mounted on the upper longitudinal beam 9 of the rear side of Frame unit, and telescopic rod reaches front and is connected with bearing plate 18.
Robot is driven by driving wheel and is travelled on level road.When close to step, front stretching leg 16 and rear Retractive leg 17
(i.e. the motion bar of Retractive leg extends downwardly, and vehicle frame is lifted up, and Retractive leg lands, and driving wheel is lifted) is lifted,
Vehicle frame is allowed to move forward by actuating device of the linear motion control at this time a bit of (at this time due to Retractive leg and ground face contact, place
It is flexible by electric pushrod in stationary state, it allows guide rail to move along sliding block, vehicle frame is driven to move forward.Either rack gear moves
It is dynamic that vehicle frame is driven to move forward), allow front driving wheel ridden on first order step first, after front driving wheel is set up the stage successfully, first
Continue driving on grade step to advance, while the motion bar of front stretching leg retracts, wherein the retraction of more forwardly of front stretching leg is more, is
In order to drive the Shi Ranggeng that travels forward by linear drive apparatus along linear guide when two pieces of bearing plates equipped with four front stretching legs
Forward front stretching leg can ride on first order step without Retractive leg and step not interference phenomenon, and front stretching rearward
Leg retract just for the sake of avoid influence robot advance during Retractive leg and ground frictional interference, at this time after Retractive leg not
Retraction is supported on level road, guarantees that vehicle frame is in horizontality always.
When two pieces of bearing plates equipped with four front stretching legs are moved forward to along linear guide by linear drive apparatus driving
After the success of more forwardly of front stretching leg control tower, Retractive leg, which continues up, lifts that (i.e. the motion bar of Retractive leg extends downwardly, by vehicle frame
It is lifted up), allow front driving wheel to leave ground again, it is a bit of that actuating device of the linear motion drives vehicle frame to advance, until before allowing
When driving wheel can ride over second level step, four front stretching legs shorten, wherein more forwardly of front stretching leg retracts more, are equally
Interference problem described in when occurring first step of climbing in order to prevent, drive wheel are advanced, and allow two front stretching legs point
It does not set up the stage success in second and first step, while rear Retractive leg elongation keeps robot horizontal.It is preceding after robot sets up the stage successfully
Driving wheel band mobile robot moves on, until driving wheel stops driving when front driving wheel is close to next step, at this point, being equipped with
Two pieces of bearing plates 18 of four front stretching legs move forward to more forwardly of extension by linear drive apparatus driving along linear guide
After contracting leg reaches the front end that it can be moved on guide rail, continues up and lift, (i.e. the motion bar of Retractive leg extends downwardly,
Vehicle frame is lifted up), rear Retractive leg shortens at this time, and then the directional wheel on front driving wheel and rear Retractive leg leaves ground together
Face, it is a bit of that actuating device of the linear motion drives vehicle frame to advance, until allowing front driving wheel that can ride over third level step, rear Retractive leg
On directional wheel ride over first step.Hereafter, it moves back and forth in the same way, robot is allowed to set up the stage again success.
The elongation of every Retractive leg and so on is shortened, and is finally completed and entirely climbs building process.During setting up the stage, robot
Advance mainly by the power of front driving wheel, the power of actuating device of the linear motion, rear directional wheel auxiliary is advanced.In motion process
In, actuating device of the linear motion also needs that bearing plate is driven to be moved forward and backward along linear guide.During setting up the stage, by preceding
The cooperation of Retractive leg afterwards, so that robot vehicle frame is in horizontal always, to guarantee the safety of the cargo of delivery, and this is practical
The center of gravity of goods of novel robot is low, runs smoothly.It is opposite with motion process upstairs when downstairs.
The utility model is not limited to the above embodiment, as the structure of sole, vehicle frame and cabinet can take other shapes
The structure of formula.It will be understood by those skilled in the art that: in the case where not departing from the principles of the present invention and objective
A variety of change, modification, replacement and modification can be carried out to these embodiments, the scope of the utility model is by claim and its waits
Jljl limits.
Claims (8)
1. a kind of horizontal attitude loading stair climbing robot of wheel-leg combined type, it is characterised in that: including vehicle frame and climb building Retractive leg
System, the vehicle frame include walking chassis unit and Frame unit, and the walking chassis unit includes sole, on sole
Driving wheel for flat pavement running is set；
The Frame unit is arranged on sole, in the space that cargo is placed on the Frame unit and sole surrounds；
The building Retractive leg system of climbing includes four front stretching legs, Retractive leg and the front and back of Frame unit top surface is arranged in after two
The linear guide of extension is one in front and one in back slidably connected two pieces by sliding block in the linear guide and slides bearing plate, two pieces of cunnings
Dynamic bearing plate can control the front and back in linear guide by the actuating device of the linear motion being mounted in Frame unit and reciprocatingly slide,
It is connected between two pieces of sliding bearing plates by bearing plate link block, the left and right end of two pieces of sliding bearing plates reaches respectively
Outside the left and right sides of Frame unit, the left and right sides of two pieces of sliding bearing plates reaches the lower surface difference of the part outside Frame unit
The front stretching leg is installed, Retractive leg is separately positioned on Frame unit left and right sides inside top surface by Frame unit rear end after two
Position, Retractive leg is symmetrical arranged along the cross central line of vehicle frame after this two, and the lower end of Retractive leg reaches chassis after this two
It below frame, and is connected by rear-wheel fixed plate, there are two rear directional wheels for the rear-wheel fixed plate following settings.
2. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 1, it is characterised in that: at the bottom
Driving wheel is respectively set on four angles of plate rail, the driving wheel includes wheat wheel, wheat turbin generator and shaft coupling, the wheat turbin generator
It is connect by shaft coupling with wheat wheel drive.
3. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 1 or claim 2, it is characterised in that: described
Front stretching leg and rear Retractive leg are electric pushrod.
4. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 3, it is characterised in that: the chassis
Frame is surrounded by forward and backward longitudinal beam, two root long transverse beams, two short transverse beams and a middle longitudinal beam, two long transverse beams
Surrounded with middle longitudinal beam] shape frame, two short transverse beams are connected to the back side of middle longitudinal beam and middle longitudinal beam surrounds π shape, and two
The shelf that long transverse beam, middle longitudinal beam described in root and two short transverse beams surround is connected to the middle part of forward and backward longitudinal beam
Between, the rear-wheel fixed plate is located at below two short transverse beam.
5. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 4, it is characterised in that: the vehicle frame
Unit includes four outer vertical beams and four interior vertical beams, and four outer vertical beams are separately positioned on the two of forward and backward longitudinal beam
End, wherein the both ends of middle longitudinal beam are arranged in two interior vertical beams, in addition two interior vertical beams are arranged on preceding longitudinal beam, and four
Interior vertical beam surrounds rectangle rack, passes through upper longitudinal direction between two outer vertical beams of front side and between two outer vertical beams of rear side
Beam is connected, and is connected between front side and the upper longitudinal beam of rear side by two upper transverse beams, and two upper transverse beams are also respectively connected with
The top of interior vertical beam, the linear guide is connected between front side and the upper longitudinal beam of rear side, and the linear guide is located at
Between two upper transverse beams, the rear end of two upper transverse beams is arranged in the rear Retractive leg.
6. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 5, it is characterised in that: vertical before described
It is provided with support board between Xiang Liang, middle longitudinal beam and two long transverse beams, it is between two interior vertical beams in left side and right
It is provided with side baffle between two interior vertical beams of side, is kept off after being provided between two interior vertical beams on the middle longitudinal beam
Plate is provided with overhead gage between the top of four interior vertical beams, and the support board, side baffle, rear baffle and overhead gage surround use
In the cabinet of arrangement of goods.
7. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 1, it is characterised in that: the straight line
Kinematic driving unit is electric pushrod, and the electric pushrod is mounted on the upper longitudinal beam of the rear side of Frame unit.
8. the horizontal attitude loading stair climbing robot of wheel-leg combined type according to claim 1, it is characterised in that: the straight line
Kinematic driving unit includes stepper motor and gear and rack teeth mechanism, and the rack gear of the gear and rack teeth mechanism is arranged on Frame unit top
Face, the rack gear are arranged in parallel with linear guide, are equipped with gear, the wheel and rack in the bottom surface of the loading bearing plate
Engagement, the gear is driven by stepper motor to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822109903.XU CN209274758U (en) | 2018-12-17 | 2018-12-17 | The horizontal attitude loading stair climbing robot of wheel-leg combined type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822109903.XU CN209274758U (en) | 2018-12-17 | 2018-12-17 | The horizontal attitude loading stair climbing robot of wheel-leg combined type |
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| Publication Number | Publication Date |
|---|---|
| CN209274758U true CN209274758U (en) | 2019-08-20 |
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ID=67611381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822109903.XU Active CN209274758U (en) | 2018-12-17 | 2018-12-17 | The horizontal attitude loading stair climbing robot of wheel-leg combined type |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
-
2018
- 2018-12-17 CN CN201822109903.XU patent/CN209274758U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
| CN109515546B (en) * | 2018-12-17 | 2023-09-05 | 武汉朗毅机器人有限公司 | Wheel-leg combined horizontal attitude object carrying stair climbing robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210917 Address after: 430223 R & D building / unit 1, modern service base, Science Park, Huazhong University of science and technology, No. 13-1, University Park Road, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 305-73, floors 2-3, floors 5-15 Patentee after: Wuhan Langyi robot Co.,Ltd. Address before: 400044 No. 174 Sha Jie street, Shapingba District, Chongqing Patentee before: Wen Hao Patentee before: Yang Hongcheng Patentee before: Wu Di |
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| TR01 | Transfer of patent right |