CN210502961U - Omnidirectional movement function car under storage environment - Google Patents
Omnidirectional movement function car under storage environment Download PDFInfo
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- CN210502961U CN210502961U CN201921044108.5U CN201921044108U CN210502961U CN 210502961 U CN210502961 U CN 210502961U CN 201921044108 U CN201921044108 U CN 201921044108U CN 210502961 U CN210502961 U CN 210502961U
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- shock absorption
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Abstract
The utility model discloses an omnidirectional movement function car under storage environment, include the vehicle chassis who opens the mounting hole on four angles and install the control circuit board on vehicle chassis, be provided with the damper on perpendicular to vehicle chassis in the mounting hole, damper runs through vehicle chassis, damper's lower extreme is provided with the mecanum wheel of taking actuating mechanism, and damper's upper end is connected with carrying the thing board through the bradyseism subassembly. By adopting the structure, the vehicle main body is simple in structure and mainly comprises the vehicle chassis, the shock absorption assembly and the buffering assembly, wherein the shock absorption assembly is used for shock absorption between the vehicle chassis and the Mecanum wheel, the buffering assembly is used for shock absorption between the vehicle chassis and the loading plate, and the trolley has good shock absorption performance when running under complex road conditions by a two-stage shock absorption method. The problem of current unmanned transport vehicle do not have shock-absorbing structure or the shock attenuation effect is relatively poor, and the limitation of using is great, can't extensively be applicable to various storage environment is solved.
Description
Technical Field
The utility model relates to an intelligence car field, in particular to omnidirectional movement function car under storage environment.
Background
With the continuous development of modern economy, especially the high-speed development of production automation and logistics automation, more and more transport vehicles are applied to factories. Because traditional carrier handling efficiency is low and can not link up the production processes between the different stations well, the cost of labor is also rising constantly from this simultaneously, and traditional carrier can not be fine adaptation economic development yet. Automated guided vehicles have been developed to better save costs and improve production efficiency.
An Automated Guided Vehicle (AGV) is an unmanned automated vehicle, which can automatically travel along a set track to complete a certain task according to a program setting requirement, and with the continuous development of technology, an Automatic transport vehicle has become an indispensable part in a logistics automation system. The development of the AGV dates back to the 50 th of the 20 th century, and along with the time lapse and the continuous development of the technology, the AGV can well link the processes of different stations while saving the labor cost. Meanwhile, because the AGV needs less manual participation, the AGV is gradually used in occasions where people are not suitable to enter, such as container terminals, medical industries and the like. In the tobacco and automobile industry, an Automatic Guided Vehicle (AGVs) System composed of a plurality of AGVs can plan the paths of different AGVs by an automatic scheduling System according to the process requirements and the production needs, control different AGVs to finish the transport work, and enable one production line to produce thousands of products. The typical example of the system is that the Volvo Kalman car assembly factory in Sweden introduces an automatic guided vehicle system, so that the assembly time is greatly reduced, and the labor cost is reduced to a certain extent.
The unmanned transport vehicle under the traditional storage environment generally adopts automatic guiding devices such as electromagnetism or optics, requires that the place must be laid electromagnetic track or optics track, and the drive structure of unmanned transport vehicle is comparatively simple, and simultaneously, the vehicle is gone on fixed track and also need not complicated shock-absorbing structure. Therefore, the existing unmanned carrier has no damping structure or poor damping effect, has large application limitation, and cannot be widely applied to various storage environments.
Disclosure of Invention
The utility model aims to provide a: the utility model provides an omnidirectional movement function car under storage environment, it does not have shock-absorbing structure or shock attenuation effect relatively poor to have solved current unmanned transport vehicle, and the limitation of using is great, can't extensively be applicable to various storage environments.
The utility model adopts the technical scheme as follows:
the utility model provides an omnidirectional movement function car under storage environment, includes the vehicle chassis who opens the mounting hole on four angles and installs the control circuit board on vehicle chassis, be provided with the damper of perpendicular to vehicle chassis in the mounting hole, damper runs through vehicle chassis, damper's lower extreme is provided with the mecanum wheel of taking actuating mechanism, and damper's upper end is connected with carrying the thing board through the bradyseism subassembly. By adopting the structure, the vehicle main body is simple in structure and mainly comprises the vehicle chassis, the shock absorption assembly and the buffering assembly, wherein the shock absorption assembly is used for shock absorption between the vehicle chassis and the Mecanum wheel, the buffering assembly is used for shock absorption between the vehicle chassis and the loading plate, and the trolley has good shock absorption performance when running under complex road conditions by a two-stage shock absorption method. Meanwhile, the trolley adopts Mecanum wheels, and the omnibearing motion equipment based on the Mecanum wheel technology can realize the motion modes of advancing, transverse moving, oblique moving, rotating, combination of the advancing, transverse moving, oblique moving and rotating and the like. The problem of current unmanned transport vehicle do not have shock-absorbing structure or the shock attenuation effect is relatively poor, and the limitation of using is great, can't extensively be applicable to various storage environment is solved.
Furthermore, the shock-absorbing assembly comprises a sleeve cylinder which is connected with the mounting hole and has a downward opening, a push rod which is consistent with the axis direction of the sleeve cylinder is further arranged in the sleeve cylinder, the upper end of the push rod is connected with the bottom of the inner side of the sleeve cylinder, the lower end of the push rod is connected with a hydraulic cylinder, and the other end of the hydraulic cylinder is connected with a Mecanum wheel with a driving mechanism. By adopting the structure, the device is mainly used for paving roads and rarely needs cross country, so that the damping structure of the device can be designed to be perpendicular to a vehicle chassis, the structure is simple, and the damping effect is good.
Furthermore, a damping spring is nested on the push rod and is positioned between the bottom of the inner side of the sleeve cylinder and the hydraulic cylinder. Through establish damping spring at the push rod cover, the shock attenuation performance of promotion damper that can step forward, the notice can accelerate the resilience of pneumatic cylinder, makes damper reset sooner.
Further, the bradyseism subassembly includes the gag lever post of perpendicular to vehicle chassis, the gag lever post bottom is connected with shock-absorbing component, it overlaps on the gag lever post to carry the thing board, it still is provided with the bradyseism spring to carry between thing board and the shock-absorbing component, the bradyseism spring nestification is on the gag lever post. Adopt above-mentioned structure to carry the thing board and can follow the gag lever post and move in the direction of perpendicular to vehicle chassis, when the vehicle runs into the barrier and produces vibrations, carry the thing board and keep motionless under inertial effect, carry the bradyseism spring compression or the extension between thing board and the vehicle chassis, absorb the kinetic energy of vehicle chassis vibrations, reach the effect of bradyseism.
Furthermore, a top cover is further arranged at the top of the limiting rod. The object carrying plate is prevented from being separated from the top of the limiting rod.
Adopt above-mentioned overall structure's design, set up damper and bradyseism subassembly on same axis, simple structure, simultaneously, only need with damper's cover cylinder with vehicle chassis fixed can, the conjugation degree of device is higher.
Furthermore, the vehicle chassis waterproof structure further comprises a waterproof cover plate matched with the control circuit board, the waterproof cover plate is fixed on the vehicle chassis through screws, and a waterproof rubber pad is further arranged at the joint of the waterproof cover plate and the vehicle chassis. Because this device probably is used for outdoors, when raining, the short circuit appears in the influence that vehicle control circuit board received the rainwater can effectually be avoided to waterproof apron.
Furthermore, the carrying plate is rectangular, and an array formed by a plurality of baffle mounting holes is arranged on the carrying plate. The array formed by the baffle mounting holes is arranged on the carrying plate, so that the weight of the carrying plate can be reduced, the load capacity of the trolley is increased, different partition plates or baffle plates can be arranged in the baffle mounting holes, and the carrying plate is divided into a plurality of self-determined carrying areas.
Furthermore, the device also comprises at least two baffles arranged on the object carrying plate, and installation plug-ins matched with the baffle installation holes are arranged on the side walls of the baffles. By adopting the structure, the baffle plates are arranged at the two opposite ends of the loading plate, so that the goods can be prevented from sliding off the loading plate.
Furthermore, side plates are further arranged on the two side walls opposite to the baffle, the side plates are perpendicular to the baffle, and hanging lugs or clamping rings are further arranged on the side plates. By adopting the structure, the baffle plates are only required to be arranged at the two ends of the long edge of the loading plate, and the side plates are further arranged on the baffle plates, so that the side plates can block the goods from sliding down from the side surface, and meanwhile, the safety ropes can be directly tied on the lugs or the snap rings of the side plates of the two opposite baffle plates, so that the goods can be further prevented from sliding down from the side surface.
Further, vehicle chassis is provided with obstacle detection device mounting hole, obstacle detection device includes vision ultrasonic wave perception module and vision ultrasonic wave processing module, vision ultrasonic wave perception module includes vision sensor and ultrasonic sensor, vision sensor is used for gathering the image signal of obstacle, ultrasonic sensor is used for gathering the ultrasonic signal of obstacle, vision ultrasonic wave processing module is used for receiving image signal with ultrasonic signal handles to obtain the positional information of obstacle.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model relates to an omnidirectional mobile functional vehicle in a storage environment, which solves the problems that the prior unmanned carrier has no damping structure or has poor damping effect, has large application limitation and can not be widely applied to various storage environments;
2. the utility model relates to an omnidirectional movement function car under storage environment adopts mecanum wheel, can realize omnidirectional movement, and is applicable in various storage environment. The improved damping device is adopted, so that the abrasion of the unmanned carrying trolley is reduced, and the service life is prolonged;
3. the utility model relates to an omnidirectional movement function car under storage environment can change goods shelves according to the goods of difference to satisfy different transport demands.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic view of the main structure of the present invention;
fig. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the vehicle chassis structure of the present invention;
fig. 4 is a schematic diagram of the structure of the object carrying plate of the present invention;
FIG. 5 is a schematic view of the baffle structure of the present invention
In the figure, 1-vehicle chassis, 2-hydraulic cylinder, 3-sleeve cylinder, 4-push rod, 5-damping spring, 6-limiting rod, 7-damping spring, 8-carrying plate, 9-top cover, 10-Mecanum wheel, 11-waterproof cover plate, 12-screw, 13-control circuit board, 14-screw hole, 15-mounting hole, 16-obstacle detection device mounting hole, 17-limiting hole, 18-baffle mounting hole, 19-baffle, 20-side plate, 21-snap ring and 22-mounting plug-in unit.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The present invention will be described in detail with reference to fig. 1 to 5.
Example 1
The utility model provides an omnidirectional movement function car under storage environment, includes that it has the vehicle chassis 1 of mounting hole 15 and installs the control circuit board 13 on vehicle chassis 1 to open on four angles, be provided with the damper of perpendicular to vehicle chassis 1 in the mounting hole 15, damper runs through vehicle chassis 1, damper's lower extreme is provided with mecanum wheel 10 of taking actuating mechanism, and damper's upper end is passed through damper and is connected with year thing board 8. By adopting the structure, the vehicle main body is simple in structure and mainly comprises the vehicle chassis 1, the shock absorption assembly and the shock absorption assembly, wherein the shock absorption assembly is used for absorbing shock between the vehicle chassis 1 and the Mecanum wheel 10, the shock absorption assembly is used for absorbing shock between the vehicle chassis 1 and the carrying plate 8, and the trolley has good shock absorption performance when running under complex road conditions by a two-stage shock absorption method. Meanwhile, the trolley adopts the Mecanum wheels 10, and the omnibearing motion equipment based on the Mecanum wheel technology can realize the motion modes of advancing, transverse moving, oblique moving, rotating, combination of the motion modes and the like. The problem of current unmanned transport vehicle do not have shock-absorbing structure or the shock attenuation effect is relatively poor, and the limitation of using is great, can't extensively be applicable to various storage environment is solved.
Example 2
The difference between the embodiment and embodiment 1 is that the damping assembly includes a sleeve 3 connected with a mounting hole and having a downward opening, a push rod 4 is further disposed in the sleeve 3 and has the same axis direction as the sleeve 3, the upper end of the push rod 4 is connected with the bottom of the inner side of the sleeve 3, the lower end of the push rod 4 is connected with a hydraulic cylinder 2, and the other end of the hydraulic cylinder 2 is connected with a mecanum wheel 10 with a driving mechanism. By adopting the structure, the device is mainly used for paving roads and rarely needs cross country, so that the damping structure of the device can be designed to be perpendicular to a vehicle chassis, the structure is simple, and the damping effect is good.
Further, a damping spring 5 is nested on the push rod 4, and the damping spring 5 is positioned between the bottom of the inner side of the sleeve cylinder 3 and the hydraulic cylinder 2. Through establish damping spring 5 at push rod 4 upper cover, the shock attenuation performance of promotion damper that can be further, the notice can accelerate 2 resilience of pneumatic cylinder, makes damper reset sooner.
Example 3
The difference between this embodiment and embodiment 1 lies in, the bradyseism subassembly includes the gag lever post 6 of perpendicular to vehicle chassis 1, 6 bottoms of gag lever post are connected with shock-absorbing component, it overlaps on the gag lever post to carry thing board 8, it still is provided with bradyseism spring 7 to carry between thing board 8 and the shock-absorbing component, bradyseism spring 7 nestification is on gag lever post 6. Adopt above-mentioned structure to carry thing board 8 can follow gag lever post 6 and move in the direction of perpendicular to vehicle chassis 1, when the vehicle runs into the barrier and produces vibrations, carry thing board 8 and keep motionless under inertial effect, carry the compression of bradyseism spring 7 or tensile between thing board 8 and the vehicle chassis 1, absorb the kinetic energy of vehicle chassis 1 vibrations, reach the effect of bradyseism.
Further, a top cover 9 is further arranged at the top of the limiting rod 6. The object carrying plate 8 is prevented from being separated from the top of the limiting rod 6.
Adopt above-mentioned overall structure's design, set up damper and bradyseism subassembly on same axis, simple structure, simultaneously, only need with damper's cover cylinder 3 with vehicle chassis 1 fixed can, the conjugation degree of device is higher.
Example 4
The difference between this embodiment and embodiment 1 is that the vehicle chassis further includes a waterproof cover plate 11 matched with the control circuit board 13, the waterproof cover plate is fixed on the vehicle chassis 1 through a screw 12, and a waterproof rubber pad is further disposed at the joint of the waterproof cover plate 11 and the vehicle chassis 1. Because this device probably is used for outdoor, when raining, waterproof apron 11 can effectually avoid vehicle control circuit board 13 to receive the influence of rainwater to appear the short circuit.
Example 5
The present embodiment is different from embodiment 1 in that the object carrying plate 8 is rectangular, and an array of a plurality of baffle mounting holes 18 is disposed on the object carrying plate 8. Through set up the array that baffle mounting hole 18 constitutes on carrying thing board 8, can lighten the weight of carrying thing board 8, increase the load-carrying capacity of dolly, can also install different baffle or baffle 19 in baffle mounting hole 18, will carry thing board 8 and separate for a plurality of from the goods district of deciding.
Further, the novel carrier plate comprises at least two baffle plates 19 arranged on the carrier plate 8, and mounting inserts 22 matched with the baffle plate mounting holes 18 are arranged on the side walls of the baffle plates 19. By adopting the structure, the baffle plates 19 are arranged at the two opposite ends of the loading plate 8, so that the goods can be prevented from sliding off the loading plate 8.
Further, two opposite side walls of the baffle plate 19 are further provided with side plates 20, the side plates 20 are perpendicular to the baffle plate 19, and the side plates 20 are further provided with lugs or snap rings 21. By adopting the structure, the baffle plates 19 are only required to be arranged at the two ends of the long edge of the object carrying plate 8, the side plates 20 are further arranged on the baffle plates 19, the side plates 20 can prevent goods from sliding down from the side, and meanwhile, the safety ropes can be directly tied on the lugs or the snap rings 21 of the side plates 20 of the two opposite baffle plates 19, so that the goods can be further prevented from sliding down from the side.
Example 6
The present embodiment is different from embodiment 1 in that the vehicle chassis 1 is provided with an obstacle detection device mounting hole 16, the obstacle detection device includes a visual ultrasonic sensing module and a visual ultrasonic processing module, the visual ultrasonic sensing module includes a visual sensor and an ultrasonic sensor, the visual sensor is used for acquiring an image signal of an obstacle, the ultrasonic sensor is used for acquiring an ultrasonic signal of the obstacle, and the visual ultrasonic processing module is used for receiving and processing the image signal and the ultrasonic signal, so as to obtain position information of the obstacle.
Example 7
The embodiment provides a specific implementation scheme, an omnidirectional movement function vehicle under storage environment, including opening vehicle chassis 1 that has mounting hole 15 on four angles and installing control circuit board 13 on vehicle chassis 1, vehicle chassis 1 size is 50cm 35cm, and mounting hole 15 diameter is 8cm, and the distance of mounting hole 15 on four angles apart from both sides limit is 3cm, and the circuit board includes NVIDIA Jetson TX2 calculation module, battery and receiver, be provided with the shock attenuation subassembly perpendicular to vehicle chassis 1 in the mounting hole 15, shock attenuation subassembly runs through vehicle chassis 1, the lower extreme of shock attenuation subassembly is provided with mecanum wheel 10 of taking actuating mechanism, and mecanum wheel 10 diameter is 14cm, and the upper end of shock attenuation subassembly is connected with year thing board 8 through the shock attenuation subassembly. Damping component includes the jar 3 that is connected with mounting hole 15 opening down, the external diameter of jar 3 is 8cm, and the internal diameter is 6cm, and dark 30cm still be provided with the push rod 4 unanimous with 3 axis direction of jar in the jar 3, 4 long 50cm of push rod, diameter 4cm, the upper end and the 3 inboard bottoms of jar of sleeve of push rod 4 are connected, and the lower extreme of push rod 4 is connected with pneumatic cylinder 2, the other end and the mecanum wheel 10 of taking actuating mechanism of pneumatic cylinder 2 are connected. The push rod 4 is further nested with a damping spring 5, and the damping spring 5 is located between the bottom of the inner side of the sleeve cylinder 3 and the hydraulic cylinder 2. The bradyseism subassembly includes the gag lever post 3 of perpendicular to vehicle chassis 1, 3 long 40cm of gag lever post, diameter 4cm, 3 bottoms of gag lever post are connected with shock-absorbing component, carry thing board 8 covers on gag lever post 3, it still is provided with bradyseism spring 7 to carry between thing board 8 and the shock-absorbing component, bradyseism spring 7 nestification is on gag lever post 6. The elastic coefficient of the shock absorption spring 7 is larger than that of the shock absorption spring 5. The top of the limiting rod 6 is also provided with a top cover 9 with the diameter of 6 cm. The vehicle chassis is characterized by further comprising a waterproof cover plate 11 matched with the control circuit board 13, the waterproof cover plate 11 is fixed on a screw hole 14 of the vehicle chassis 1 through a screw 2, and a waterproof rubber pad is further arranged at the joint of the waterproof cover plate 11 and the vehicle chassis 1. Carry thing board 8 and be the rectangle, carry thing board 8 size and be 40cm 30cm, carry being provided with on four angles of thing board 8 apart from the spacing hole of the diameter 4cm of both sides 1cm, spacing hole 17 matches with gag lever post 6, is provided with the array that a plurality of baffle mounting holes 18 are constituteed on carrying thing board 8. The novel carrier plate is characterized by further comprising at least two baffle plates 19 arranged on the carrier plate 8, wherein mounting inserts 22 matched with the baffle plate mounting holes 18 are arranged on the side walls of the baffle plates 19. Two opposite side walls of the baffle plate 19 are further provided with side plates 20, the side plates 20 are perpendicular to the baffle plate 19, and the side plates 20 are further provided with hanging lugs or clamping rings 21. Vehicle chassis 1 is provided with obstacle detection device mounting hole 16, obstacle detection device includes vision ultrasonic wave perception module and vision ultrasonic wave processing module, vision ultrasonic wave perception module includes vision sensor and ultrasonic sensor, vision sensor is used for gathering the image signal of obstacle, ultrasonic sensor is used for gathering the ultrasonic signal of obstacle, vision ultrasonic wave processing module is used for receiving image signal with ultrasonic signal handles to obtain the positional information of obstacle.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can be covered within the protection scope of the present invention without the changes or substitutions conceived by the inventive work within the technical scope disclosed by the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (10)
1. The utility model provides a omnidirectional movement function car under storage environment, includes the vehicle chassis who opens the mounting hole on four angles and installs the control circuit board on vehicle chassis, its characterized in that: the damping device is characterized in that a damping component perpendicular to the vehicle chassis is arranged in the mounting hole, the damping component penetrates through the vehicle chassis, the lower end of the damping component is provided with a Mecanum wheel with a driving mechanism, and the upper end of the damping component is connected with the loading plate through a damping component.
2. The omni-directional mobile functional vehicle in a storage environment according to claim 1, wherein: the damping assembly comprises a sleeve cylinder connected with the mounting hole and provided with a downward opening, a push rod consistent with the axis direction of the sleeve cylinder is further arranged in the sleeve cylinder, the upper end of the push rod is connected with the bottom of the inner side of the sleeve cylinder, the lower end of the push rod is connected with a hydraulic cylinder, and the other end of the hydraulic cylinder is connected with a Mecanum wheel with a driving mechanism.
3. The omni-directional mobile functional vehicle in the storage environment according to claim 2, wherein: and the push rod is also nested with a damping spring, and the damping spring is positioned between the bottom of the inner side of the sleeve cylinder and the hydraulic cylinder.
4. The omni-directional mobile functional vehicle in a storage environment according to claim 1, wherein: the shock absorption assembly comprises a limiting rod perpendicular to a vehicle chassis, the bottom of the limiting rod is connected with the shock absorption assembly, the object carrying plate is sleeved on the limiting rod, a shock absorption spring is further arranged between the object carrying plate and the shock absorption assembly, and the shock absorption spring is nested on the limiting rod.
5. The omni-directional mobile functional vehicle in a storage environment according to claim 4, wherein: the top of the limiting rod is also provided with a top cover.
6. The omni-directional mobile functional vehicle in a storage environment according to claim 1, wherein: the vehicle chassis is characterized by further comprising a waterproof cover plate matched with the control circuit board, the waterproof cover plate is fixed on the vehicle chassis through screws, and a waterproof rubber pad is further arranged at the joint of the waterproof cover plate and the vehicle chassis.
7. The omni-directional mobile functional vehicle in a storage environment according to claim 1, wherein: the object carrying plate is rectangular and is provided with an array consisting of a plurality of baffle mounting holes.
8. The omni-directional mobile functional vehicle in a storage environment according to claim 7, wherein: the novel loading plate is characterized by further comprising at least two baffles arranged on the loading plate, and installation plug-ins matched with the baffle installation holes are arranged on the side walls of the baffles.
9. The omni-directional mobile functional vehicle in a storage environment according to claim 8, wherein: the side plates are further arranged on the two opposite side walls of the baffle and are perpendicular to the baffle, and hanging lugs or clamping rings are further arranged on the side plates.
10. The omni-directional mobile functional vehicle in a storage environment according to claim 1, wherein: the vehicle chassis is provided with obstacle detection device mounting hole, obstacle detection device includes vision ultrasonic wave perception module and vision ultrasonic wave processing module, vision ultrasonic wave perception module includes vision sensor and ultrasonic sensor, vision sensor is used for gathering the image signal of obstacle, ultrasonic sensor is used for gathering the ultrasonic wave signal of obstacle, vision ultrasonic wave processing module is used for receiving image signal with ultrasonic wave signal handles to obtain the positional information of obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921044108.5U CN210502961U (en) | 2019-07-05 | 2019-07-05 | Omnidirectional movement function car under storage environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921044108.5U CN210502961U (en) | 2019-07-05 | 2019-07-05 | Omnidirectional movement function car under storage environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210502961U true CN210502961U (en) | 2020-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921044108.5U Expired - Fee Related CN210502961U (en) | 2019-07-05 | 2019-07-05 | Omnidirectional movement function car under storage environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210502961U (en) |
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2019
- 2019-07-05 CN CN201921044108.5U patent/CN210502961U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |