CN210361330U - Foot component of anthropomorphic robot and anthropomorphic robot - Google Patents
Foot component of anthropomorphic robot and anthropomorphic robot Download PDFInfo
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- CN210361330U CN210361330U CN201921109321.XU CN201921109321U CN210361330U CN 210361330 U CN210361330 U CN 210361330U CN 201921109321 U CN201921109321 U CN 201921109321U CN 210361330 U CN210361330 U CN 210361330U
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- ankle joint
- gear box
- sole
- foot
- anthropomorphic robot
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Abstract
The utility model discloses a foot component of an anthropomorphic robot, which comprises an ankle joint Y-axis driving motor and a micro planetary reduction mechanism, wherein output gears of the ankle joint Y-axis driving motor and the micro planetary reduction mechanism are meshed with a gear part of a heel end gear piece, and a support part of the heel end gear piece is fixedly connected with the rear end of a sole; the ankle joint Y-axis driving motor and the micro planetary reduction mechanism are fixedly arranged in an ankle joint gear box formed by the ankle joint gear box body and the ankle joint gear box cover; the front end of the ankle joint gear box cover is movably connected with the front end of the sole. The utility model discloses can organically combine the foot skeleton of the drive and the drive mechanism that realize the foot subassembly degree of freedom and robot together, make the structure of foot more approach the mankind, the gesture of accomplishing the action also more approaches the mankind, consequently can really replace the mankind to accomplish work. The utility model also discloses an anthropomorphic robot of this foot subassembly.
Description
Technical Field
The utility model relates to a part of anthropomorphic robot, concretely relates to foot subassembly of anthropomorphic robot. The utility model discloses still relate to an anthropomorphic robot who has this foot subassembly.
Background
With the rapid development of technology, anthropomorphic robots represent the highest level in the field of robotics. Because the anthropomorphic robot can imitate the action of human beings, the anthropomorphic robot can really replace human beings to finish various works, such as working in high-risk and high-temperature working environments, so as to thoroughly change the working and life modes of the human beings.
In order to make a humanoid robot perform human actions, the humanoid robot is required to have joints as flexible as a human. The major joints of the human body include hip joint, shoulder joint, elbow joint, knee joint, ankle joint, etc. The main task of the robot joint is to perform a rotation motion, including, for example, a rotation around the X-axis direction, a rotation around the Y-axis direction, and a rotation around the Z-axis direction. The rotation action of the joint of the existing robot is generally completed by adopting a steering engine, and the steering engine has the advantage of high control precision but only has one degree of freedom. Each joint of a human body has at least two degrees of freedom, so that two or even three steering engines are required to be used at the same joint, the number of the steering engines is increased because the steering engines are independent of the body skeleton of the robot, the length of the joint is inevitably increased, and the rigidity of the body is deteriorated accordingly. In order to keep the stability of the body of the robot, the power of the steering engine can only be increased, the size of the steering engine is increased, the joints are further longer, and the rigidity of the body is poorer.
Therefore, the anthropomorphic robot adopting the steering engine can only be used as a toy, and cannot really finish the action of human and replace the human to work.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a foot subassembly of anthropomorphic robot, it can simulate the foot walking action of people.
In order to solve the technical problem, the utility model discloses anthropomorphic robot's foot subassembly's technical solution does:
the ankle joint Y-axis driving mechanism comprises an ankle joint Y-axis driving motor and a miniature planetary reduction mechanism 10-2, wherein an output gear of the ankle joint Y-axis driving motor and the miniature planetary reduction mechanism 10-2 is meshed with a gear part of a heel tail end gear piece 10-5, and a support part of the heel tail end gear piece 10-5 is fixedly connected with the rear end of a sole; the ankle joint Y-axis driving motor and the micro planetary reduction mechanism 10-2 are fixedly arranged in an ankle joint gear box formed by an ankle joint gear box body 10-1 and an ankle joint gear box cover 10-7; the front end of the ankle joint gearbox cover 10-7 is movably connected with the front end of the sole.
In another embodiment, the ankle gear box formed by the ankle gear box body 10-1 and the ankle gear box cover 10-7 has a greater anteroposterior length than a posterior thickness of the lower leg.
In another embodiment, the upper portion of the ankle gear box formed by the ankle gear box body 10-1 and the ankle gear box cover 10-7 is semicircular.
In another embodiment, the gear portion of the heel end gear member 10-5 is movably coupled to the ankle gear housing 10-1 through a bearing 10-3.
In another embodiment, the front end of the ankle joint gear box cover 10-7 is provided with a pin shaft 10-7-1, the front end bracket of the sole is provided with a shaft hole 11-1-1, and the movable connection between the ankle joint gear box cover 10-7 and the sole is realized through the matching connection of the pin shaft 10-7-1 and the shaft hole 11-1-1.
In another embodiment, the center of the axial hole 11-1-1 of the sole is aligned with the center of rotation of the gear portion of the heel end gear member 10-5 to form a Y-directional rotation axis of the sole.
In another embodiment, a pressure sensor PCB board 11-2 is arranged on the sole, and a plurality of pressure contacts are fixed at the bottom of the sole; a plurality of pressure contacts are electrically connected to the pressure sensor PCB board 11-2.
In another embodiment, the heel end gear member 10-5 is provided with a heel Hall sensor 10-4, and the ankle Hall sensor 10-6 is provided on the ankle gearbox cover 10-7.
The utility model also provides an anthropomorphic robot with this foot subassembly, its technical solution is:
comprises a trunk framework 1, a waist 2, a right leg 3 and a left leg 4; the waist 2 is connected with the trunk framework 1 through a waist rotating platform 5, and the left side and the right side of the waist 2 are respectively connected with a left leg 3 and a right leg 4 through two-degree-of-freedom hip joints; the left leg 4 comprises a left thigh 12, a left shank 13 and a left foot which are connected in sequence, and the right leg 3 comprises a right thigh 8, a right shank 9 and a right foot which are connected in sequence; the left foot and the right foot adopt the foot component.
The utility model discloses the technological effect that can reach is:
the utility model discloses can organically combine the foot skeleton of the drive and the drive mechanism that realize the foot subassembly degree of freedom and robot together, make the structure of foot more approach the mankind, the gesture of accomplishing the action also more approaches the mankind, consequently can really replace the mankind to accomplish work.
The utility model discloses an ankle joint gear case lid and heel end gear spare are connected the front and back both ends of sole respectively to it is rotatory to drive heel end gear spare through the motor, thereby realizes the relative rotary motion around the Y axle between heel end gear spare and the ankle joint gear case body, with the relative motion between realization foot and the shank.
The utility model discloses a fixed connection between the circular boss of ankle joint gearbox body and the output gear shaft of lower part right side shank right side gear train adopts the cooperation connected mode of recess and lug in order to realize the ankle joint degree of freedom, can make the length of the connecting portion of actuating mechanism and output unanimous with the wall thickness of shank gearbox body, can reduce the width of ankle joint as far as when guaranteeing stable driven, makes the ankle joint have the flexibility ratio of human joint.
The utility model can simulate the foot walking action of a person by adopting a simple structure.
Drawings
It is to be understood by those skilled in the art that the following description is merely exemplary in nature and that the principles of the present invention may be applied in numerous ways to achieve many different alternative embodiments. These descriptions are only used to illustrate the general principles of the teachings of the present invention and are not meant to limit the inventive concepts disclosed herein.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description given above and the detailed description of the drawings given below, serve to explain the principles of the invention.
The invention will be described in further detail with reference to the following drawings and detailed description:
FIG. 1 is a schematic view of an anthropomorphic robot of the present invention;
FIG. 2 is a schematic view of the waist of the anthropomorphic robot of the present invention;
FIG. 3 is a schematic view of the left leg of the anthropomorphic robot of the present invention;
FIG. 4 is a schematic view of the right leg of the anthropomorphic robot of the present invention;
FIG. 5 is an exploded view of the right calf and right ankle joint of the present invention;
FIG. 6 is a schematic view of the engagement of the ankle joint gearbox housing with the lower right calf spur gear set of the right calf;
fig. 7 is an exploded view of the right ankle joint of the present invention.
The reference numbers in the figures illustrate:
1 is a body skeleton, 2 is a waist,
3 is a right leg, 4 is a left leg,
5 is a waist rotating platform, 6 is a right two-degree-of-freedom hip joint,
7 is a left two-degree-of-freedom hip joint, 8 is a right thigh,
9 is a right lower leg, 10 is a right ankle joint,
11 is the right sole, 12 is the left thigh,
13 is a left calf, 14 is a left ankle joint,
15 is the left sole of the foot,
8 to 10 are right thigh skeletons,
8-10-1 is a circular boss at the lower end of the right thigh framework,
9-1 is a right lower leg gear box body, 9-2 is a right lower leg gear box cover,
9-3 is a lower right shank spur gear group, 9-4 is a knee joint driving motor,
9-5 is an ankle joint driving motor, 9-6 is a right shank electronic box body,
9-7 is a right shank electronic box cover, 9-8 is a knee joint Hall sensor,
9-9 is an ankle joint Hall sensor, 9-10 is an upper right shank spur gear set,
9-1-1 is an upper pin hole, 9-1-2 is a lower pin hole,
9-3-1 is an output gear shaft of a right shank spur gear group at the lower part,
9-10-1 is an output gear shaft of the upper right shank spur gear group,
10-1 is an ankle joint gear box body,
10-1-1 is a circular boss of the ankle joint gearbox body.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" and similar words are intended to mean that the elements or items listed before the word cover the elements or items listed after the word and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1, the anthropomorphic robot of the utility model comprises a trunk framework 1, a waist 2, a right leg 3 and a left leg 4; taking the waist 2 as a center, the waist 2 is upwards connected with the trunk framework 1 through a waist rotating platform 5, and the left side and the right side of the waist 2 are respectively connected with the left leg 3 and the right leg 4 through a right two-degree-of-freedom hip joint 6 and a left two-degree-of-freedom hip joint 7;
as shown in fig. 2, the waist 2 comprises a waist shell 2-1, a waist rotating platform 5 is arranged at the top of the waist shell 2-1, and a right two-degree-of-freedom hip joint 6 and a left two-degree-of-freedom hip joint 7 are fixedly arranged at the lower part of the waist shell 2-1; the waist rotating platform 5 is driven to rotate through the waist rotating mechanism, so that the trunk framework 1 is driven to rotate left and right around the Z axis; the waist rotating mechanism is arranged inside the waist shell 2-1;
as shown in fig. 3, the right leg 3 comprises a right thigh 8, a right shank 9 and a right sole 11 which are connected in sequence, and the lower end of the right shank 9 is connected with the right sole 11 through a right ankle joint 10;
as shown in fig. 4, the left leg 4 includes a left upper leg 12, a left lower leg 13, and a left sole 15 connected in sequence, and the lower end of the left lower leg 13 is connected to the left sole 15 via a left ankle joint 14.
As shown in fig. 5, the right lower leg 9 comprises a right lower leg gear box body 9-1, a right lower leg gear box cover 9-2, a right lower leg electronic box body 9-6 and a right lower leg electronic box cover 9-7 which are arranged in parallel, the right lower leg gear box body 9-1 and the right lower leg gear box cover 9-2 form a right lower leg gear box, and the right lower leg electronic box body 9-6 and the right lower leg electronic box cover 9-7 form a right lower leg electronic box; the right shank gear box body 9-1 is fixedly connected with a right shank electronic box body 9-6;
an upper calf straight gear set and a lower calf straight gear set are arranged in the right calf gear box, the input end of an upper calf straight gear set 9-10 is connected with a knee joint driving motor 9-4, and the output gear shaft of the upper right calf straight gear set 9-10 is fixedly connected with a circular boss 8-10-1 at the lower end of a right thigh skeleton 8-10; an output shaft of the knee joint driving motor 9-4 extends along the X direction; the knee joint driving motor 9-4 drives an output gear shaft of the upper right shank spur gear set 9-10 to rotate, so that the lower end of the right thigh is driven to rotate around the X direction relative to the right shank 9;
the input end of the lower right shank spur gear set 9-3 is connected with an ankle joint driving motor 9-5, and the output gear shaft 9-3-1 of the lower right shank spur gear set 9-3 is fixedly connected with a circular boss 10-1-1 of an ankle joint gear box body 10-1; the output shaft of the ankle joint driving motor 9-5 extends along the X direction; the ankle joint driving motor 9-5 drives an output gear shaft of the lower right lower leg spur gear set 9-3 to rotate, so that the right ankle joint 10 is driven to rotate around the X direction relative to the right lower leg 9;
an upper pin hole 9-1-1 is formed in the upper end of the right shank gear box body 9-1, an output gear shaft of the upper right shank spur gear set 9-10 is fixedly connected with a circular boss 8-10-1 arranged at the lower end of the right thigh framework 8-10 and movably penetrates through the upper pin hole 9-1-1, so that the lower end of the right thigh is movably connected with the upper end of the right shank 9, and the degree of freedom of a knee joint is formed;
the lower end of the right lower leg gear box body 9-1 is provided with a lower pin hole 9-1-2, and an output gear shaft of a lower right lower leg spur gear set 9-3 is fixedly connected with a circular boss 10-1-1 of an ankle joint gear box body 10-1 and movably penetrates through the lower pin hole 9-1-2, so that the lower end of the right lower leg is movably connected with a right ankle joint 10 to form the degree of freedom of the ankle joint;
in order to save space as much as possible, the fixed connection between the circular boss 10-1-1 of the ankle joint gear box body 10-1 and the output gear shaft of the lower right shank spur gear set 9-3 adopts a matching connection mode of a groove and a lug; as shown in FIG. 6, a plurality of radial grooves are formed on the circular boss 10-1-1 of the ankle joint gearbox body 10-1 along the circumferential direction, and the output gear shaft of the lower right lower leg spur gear set 9-3 is provided with a plurality of radial bumps; the radial convex blocks are matched with the radial grooves, and a plurality of radial convex blocks of the output gear shaft can be simultaneously inserted into the radial grooves of the circular boss 10-1-1, so that the circular boss 10-1-1 is fixedly connected with the output gear shaft of the lower right shank straight gear group 9-3. When the ankle joint gearbox body is installed, the circular boss 10-1-1 of the ankle joint gearbox body 10-1 and the output gear shaft of the lower right shank straight gear set 9-3 are respectively penetrated through two ends of the lower pin hole 9-1-2, and the radial groove and the radial bump are matched and connected in the lower pin hole 9-1-2;
the fixed connection mode between the circular boss 8-10-1 at the lower end of the right thigh skeleton 8-10 and the output gear shaft of the upper right shank spur gear group 9-10 is the same, and the description is omitted.
The utility model discloses an adopt the cooperation of recess and lug to realize fixed connection and activity between actuating mechanism (like the output gear axle of lower part right calf spur gear group 9-3) and the output (like ankle joint gear box 10-1's circular boss 10-1-1) and wear to locate in the pinhole to realize knee joint degree of freedom and ankle joint degree of freedom, can make the length of the connecting portion of actuating mechanism and output unanimous with right calf gear box 9-1's wall thickness, can reduce knee joint and ankle joint's width as far as possible when guaranteeing stable transmission, make knee joint and ankle joint have human articular flexibility ratio.
A circuit board and a cable are arranged in the right shank electronic box; the upper part of the right shank electronic box is provided with a knee joint Hall sensor 9-8, and the lower part of the right shank electronic box is provided with an ankle joint Hall sensor 9-9; the knee joint Hall sensor 9-8 corresponds to the magnet fixed at the lower end of the right thigh frame cover 8-6 and can detect the rotation angle of the magnet at the lower end of the right thigh frame cover 8-6, so as to monitor the rotation angle of the knee joint; the ankle hall sensor 9-9 corresponds to a magnet fixed to the ankle gear housing 10-1, and is capable of detecting the rotation angle of the magnet on the ankle gear housing 10-1, thereby monitoring the rotation angle of the ankle.
As shown in FIG. 7, the right ankle joint 10 comprises an ankle joint gear box body 10-1 and an ankle joint gear box cover 10-7, wherein an ankle joint Y-axis driving motor and a micro planetary reduction mechanism 10-2 are arranged in the ankle joint gear box formed by the ankle joint gear box body 10-1 and the ankle joint gear box cover 10-7;
the length of the ankle joint gear box formed by the ankle joint gear box body 10-1 and the ankle joint gear box cover 10-7 in the front-back direction is larger than the thickness of the right shank 9 in the front-back direction; the upper part of the ankle joint gear box is semicircular; when the ankle joint driving motor 9-5 drives the right ankle joint 10 to rotate around the X direction relative to the right calf 9, the semicircular upper part of the ankle joint gear box can guide and limit the rotation angle of the right ankle joint 10.
An ankle joint Y-axis driving motor and an output gear of the miniature planetary reduction mechanism 10-2 are meshed with a gear part of the rear end gear piece 10-5; the gear part of the heel end gear part 10-5 is connected with the ankle joint gear box body 10-1 through a bearing 10-3; the bracket part of the heel tail end gear piece 10-5 is fixedly connected with the rear end of the right sole 11-1; an ankle joint Y-axis driving motor and a micro planetary reduction mechanism 10-2 drive a heel tail end gear piece 10-5 to rotate around a gear rotation center, so that relative rotation motion around a Y axis between the heel tail end gear piece 10-5 and an ankle joint gear box body 10-1 is realized;
the utility model adopts an ankle joint Y-axis driving motor and a micro planetary reduction gear mechanism 10-2 as a motor with a reduction gear mechanism, namely the motor and the reduction gear mechanism are fixedly connected into a whole.
A pin shaft 10-7-1 is formed at the front end of the ankle joint gear box cover 10-7, a shaft hole 11-1-1 is formed in a front end support of the right sole 11-1, and the ankle joint gear box cover 10-7 is connected with the right sole 11-1 through the matching connection of the pin shaft 10-7-1 and the shaft hole 11-1-1;
the center of the shaft hole 11-1-1 of the right sole 11-1 and the rotation center of the gear part of the heel end gear piece 10-5 are on the same straight line to form a Y-direction rotation shaft of the right sole 11-1;
when the ankle joint gearbox body 10-1 and the ankle joint gearbox cover 10-7 are used as fixing pieces (namely, the shank is not moved), the right sole 11-1 rotates around the Y axis, so that the inner and outer rotating actions of the right foot are realized;
when the right sole 11-1 is used as a fixed part, the ankle joint gearbox body 10-1 and the ankle joint gearbox cover 10-7 rotate around the Y axis, so that the inner and outer rotation actions of the right shank are realized.
A pressure sensor PCB (printed Circuit Board) 11-2 is arranged on the right sole 11-1, and 4 pressure contacts are fixed at the bottom of the right sole 11-1; pressure distribution in a foot shadow area range can be obtained through 8 pressure contacts of two soles, and the overall balance of the robot is controlled through a ZMP (zero moment point theory) algorithm;
a heel Hall sensor 10-4 is arranged on the heel end gear piece 10-5 and used for detecting the rotation angle of the right sole 11-1; an ankle joint Hall sensor 10-6 is arranged on the ankle joint gearbox cover 10-7 and used for detecting the rotation angle of an output shaft of an ankle joint Y-axis driving motor, and the ankle joint Hall sensor 10-6 is matched with a heel Hall sensor 10-4 to calculate the error between an input end and an output end, so that compensation is added in a motion algorithm to improve the control precision.
The utility model has the advantages of compact structure, reasonable in design to can reduce positive inverse matrix operation in later stage.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications of the present invention fall within the scope of the claims and their equivalent technologies, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A foot assembly for an anthropomorphic robot, comprising: the ankle joint Y-axis driving mechanism comprises an ankle joint Y-axis driving motor and a miniature planetary reduction mechanism (10-2), wherein output gears of the ankle joint Y-axis driving motor and the miniature planetary reduction mechanism (10-2) are meshed with a gear part of a heel tail end gear piece (10-5), and a support part of the heel tail end gear piece (10-5) is fixedly connected with the rear end of a sole;
the ankle joint Y-axis driving motor and the micro planetary reduction mechanism (10-2) are fixedly arranged in an ankle joint gear box formed by an ankle joint gear box body (10-1) and an ankle joint gear box cover (10-7); the front end of the ankle joint gear box cover (10-7) is movably connected with the front end of the sole.
2. A foot component for an anthropomorphic robot as recited in claim 1, wherein: the length of the ankle joint gear box formed by the ankle joint gear box body (10-1) and the ankle joint gear box cover (10-7) in the front-back direction is larger than the thickness of the shank in the front-back direction.
3. A foot component for an anthropomorphic robot as recited in claim 2, wherein: the upper part of the ankle joint gear box consisting of the ankle joint gear box body (10-1) and the ankle joint gear box cover (10-7) is semicircular.
4. A foot component for an anthropomorphic robot as recited in claim 1, wherein: the gear part of the heel tail end gear piece (10-5) is movably connected with the ankle joint gear box body (10-1) through a bearing (10-3).
5. A foot component for an anthropomorphic robot as recited in claim 1, wherein: the front end of the ankle joint gear box cover (10-7) is provided with a pin shaft (10-7-1), the front end support of the sole is provided with a shaft hole (11-1-1), and the ankle joint gear box cover (10-7) is movably connected with the sole through the matching connection of the pin shaft (10-7-1) and the shaft hole (11-1-1).
6. A foot component for an anthropomorphic robot as recited in claim 5, wherein: the center of the shaft hole (11-1-1) of the sole and the rotation center of the gear part of the heel end gear piece (10-5) are on the same straight line to form a Y-direction rotation shaft of the sole.
7. A foot component for an anthropomorphic robot as recited in claim 1, wherein: the sole is provided with a pressure sensor PCB (11-2), and the bottom of the sole is fixed with a plurality of pressure contacts; the plurality of pressure contacts are electrically connected to the pressure sensor PCB (11-2).
8. A foot component for an anthropomorphic robot as recited in claim 1, wherein: a heel Hall sensor (10-4) is arranged on the heel tail end gear piece (10-5), and an ankle Hall sensor (10-6) is arranged on the ankle gear box cover (10-7).
9. An anthropomorphic robot having a foot component according to any one of claims 1 to 8, characterised by: comprises a trunk framework (1), a waist part (2), a right leg and a left leg; the waist (2) is connected with the trunk framework (1) through a waist rotating platform (5), and the left side and the right side of the waist (2) are respectively connected with a left leg and a right leg through two-degree-of-freedom hip joints; the left leg comprises a left thigh (12), a left shank (13) and a left foot which are connected in sequence, and the right leg comprises a right thigh (8), a right shank (9) and a right foot which are connected in sequence; the left and right feet using the foot assembly of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109321.XU CN210361330U (en) | 2019-07-16 | 2019-07-16 | Foot component of anthropomorphic robot and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109321.XU CN210361330U (en) | 2019-07-16 | 2019-07-16 | Foot component of anthropomorphic robot and anthropomorphic robot |
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| Publication Number | Publication Date |
|---|---|
| CN210361330U true CN210361330U (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921109321.XU Expired - Fee Related CN210361330U (en) | 2019-07-16 | 2019-07-16 | Foot component of anthropomorphic robot and anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361330U (en) |
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2019
- 2019-07-16 CN CN201921109321.XU patent/CN210361330U/en not_active Expired - Fee Related
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| TR01 | Transfer of patent right |
Effective date of registration: 20200416 Address after: Room 6247, 6th floor, 999 Changning Road, Changning District, Shanghai 200042 Co-patentee after: Fujian AVIC saifan Information Technology Co., Ltd Patentee after: Shanghai Flying Leaf Robot Technology Co.,Ltd. Address before: Room 6247, 6th floor, 999 Changning Road, Changning District, Shanghai 200042 Patentee before: Shanghai Flying Leaf Robot Technology Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200421 Termination date: 20210716 |
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| CF01 | Termination of patent right due to non-payment of annual fee |