CN212022785U - Double-wheel drive walking steering mechanism and underwater cleaning robot applying same - Google Patents
Double-wheel drive walking steering mechanism and underwater cleaning robot applying same Download PDFInfo
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- CN212022785U CN212022785U CN202020509848.8U CN202020509848U CN212022785U CN 212022785 U CN212022785 U CN 212022785U CN 202020509848 U CN202020509848 U CN 202020509848U CN 212022785 U CN212022785 U CN 212022785U
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Abstract
The utility model discloses a double-wheel drive walking steering mechanism, which comprises a first driving wheel, a second driving wheel and a driving shaft, wherein one end of the driving shaft is fixed on the first driving wheel, and the other end is provided with a first one-way transmission device which can drive the second driving wheel to rotate positively; the first transmission mechanism is provided with a first input part and a first output part which have the same rotation direction, the first input part is in transmission connection with a power device capable of providing positive and negative rotation, and the first output part is in transmission connection with a driving shaft; the first output part is connected with a second transmission mechanism in a transmission mode, the second transmission mechanism comprises a second output part which turns opposite to the first output part, and the second output part is provided with a second one-way transmission device capable of driving a second driving wheel to rotate positively. Compared with the prior art, the utility model discloses structural configuration is reasonable, the dead weight is light, operate steadily and only need a motor just can accomplish the drive walking and the equipment that turn to equipment. In addition, the underwater cleaning robot applying the double-wheel drive walking steering mechanism is also disclosed, and can drive the impeller to rotate.
Description
Technical Field
The utility model relates to an equipment field especially relies on the driving system of the equipment of four-wheel walking, specifically speaking are cleaning machines people under water of double round drive walking steering mechanism and applied its mechanism.
Background
Many devices rely on two drive wheels arranged in opposite directions for travel, such as explosive disposal robots, remote control vehicles, underwater cleaning robots, and the like.
In a patent publication "CN 208380174U" entitled "an underwater cleaning robot", a cleaning robot is disclosed, which is a cleaning apparatus for cleaning the ground or a swimming pool, having four wheels, two of which are respectively equipped with independent driving motors, and a front wheel is rotated by a pulley transmission. Because the motors equipped on the two rear wheels are independent, the two rear wheels can rotate in different speeds and even opposite directions to make steering action, but the two rear wheels have the defects that the two independent motors are required to be provided as power sources of the wheels, the manufacturing cost is high, and the self weight is high.
Disclosure of Invention
The utility model aims to solve the technical problem to the current situation of above-mentioned prior art, and provide structural configuration reasonable, the dead weight is light, operate steadily and only need a motor just can accomplish the double round drive walking steering mechanism that turns to the drive walking of equipment and use the underwater cleaning robot of its mechanism.
The utility model provides a technical scheme that above-mentioned technical problem adopted does: the double-wheel driving walking steering mechanism comprises a first driving wheel, a second driving wheel and a driving shaft, wherein the first driving wheel and the second driving wheel are arranged in opposite directions from left to right, the driving shaft is coaxial with the first driving wheel and the second driving wheel, one end of the driving shaft is fixed on the first driving wheel, and the other end of the driving shaft is provided with a first one-way transmission device capable of driving the second driving wheel to rotate forwards;
the first transmission mechanism is provided with a first input part and a first output part which have the same rotation direction, the first input part is in transmission connection with a power device capable of providing positive and negative rotation, and the first output part is in transmission connection with a driving shaft;
the first output part is connected with a second transmission mechanism in a transmission mode, the second transmission mechanism comprises a second output part which turns opposite to the first output part, and the second output part is provided with a second one-way transmission device capable of driving a second driving wheel to rotate positively.
In order to optimize the technical scheme, the adopted measures further comprise:
the first one-way transmission device and the second one-way transmission device are respectively one-way ratchet mechanisms, and the first transmission mechanism is a speed reducer.
The first transmission mechanism is a planetary gear reducer axially sleeved on the driving shaft.
The second output part is a gear ring sleeved on the periphery of the driving shaft, the first output part is coaxially provided with a sun wheel, the sun wheel and the second output part are in meshing transmission, and a planet wheel is assembled with a fixed planet carrier.
The first one-way transmission device comprises a first pawl seat fixed at the end part of the driving shaft, a first pawl body is arranged on the first pawl seat, and a first ratchet wheel is arranged on the second driving wheel;
the second one-way transmission device comprises a second pawl seat connected with the second output part, a second pawl body is arranged on the second pawl seat, and a second ratchet wheel is arranged on the second driving wheel.
The first pawl body is a cylinder arranged in the radial direction, the first pawl seat is provided with a first slideway which is used for accommodating the first pawl body in a clearance manner, and the first ratchet wheel is an inner meshing ratchet wheel arranged in the second driving wheel;
the second pawl body is a cylinder arranged in the radial direction, the second pawl seat is provided with a second slideway which is used for accommodating the second pawl body in a clearance mode, and the second ratchet wheel is an external engagement ratchet wheel arranged on the second driving wheel.
In another scheme, the first transmission mechanism is an involute small-tooth-difference speed reducer which is axially sleeved on the driving shaft.
In another variant, the first transmission is a pulley transmission, comprising a first input and a first output as two pulleys.
In another scheme, a sun gear is coaxially arranged on the first output part, and the second output part comprises a first gear meshed with the sun gear; the inner ring of the second driving wheel is provided with internal teeth, the second one-way transmission device comprises a second gear in meshing transmission with the internal teeth and a second pawl seat coaxially connected to the second output part, the second pawl seat is provided with a second pawl body, and the second gear is provided with a second ratchet wheel.
The underwater cleaning robot with the double-wheel-drive walking steering mechanism comprises the double-wheel-drive walking steering mechanism, an impeller serving as a water filtering and pumping mechanism is sleeved on a first driving wheel in a coaxial clearance manner, the impeller is connected to a power device in a transmission manner, and a water outlet hole is formed in the side wall of the first driving wheel.
Compared with the prior art, the double-wheel drive walking steering mechanism comprises a first driving wheel, a second driving wheel and a driving shaft, wherein one end of the driving shaft is fixed on the first driving wheel, and the other end of the driving shaft is provided with a first one-way transmission device capable of driving the second driving wheel to rotate positively; the first transmission mechanism is provided with a first input part and a first output part which have the same rotation direction, the first input part is in transmission connection with a power device capable of providing positive and negative rotation, and the first output part is in transmission connection with a driving shaft; the first output part is connected with a second transmission mechanism in a transmission mode, the second transmission mechanism comprises a second output part which turns opposite to the first output part, and the second output part is provided with a second one-way transmission device capable of driving a second driving wheel to rotate positively. Compared with the prior art, the utility model discloses structural configuration is reasonable, the dead weight is light, operate steadily and only need a motor just can accomplish the drive walking and the equipment that turn to equipment. In addition, the underwater cleaning robot applying the double-wheel drive walking steering mechanism is also disclosed, and can drive the impeller to rotate.
Drawings
FIG. 1 is a schematic diagram of the structures of a first embodiment, a second embodiment and a fourth embodiment of the present invention;
fig. 2 is a schematic view of the walking operation principle of the first embodiment, the second embodiment and the fourth embodiment of the present invention;
FIG. 3 is a schematic view of the steering operation principle of the first embodiment, the second embodiment and the fourth embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first embodiment, a second embodiment and a fourth embodiment of the present invention;
FIG. 5 is an exploded schematic view of FIG. 4;
FIG. 6 is a cross-sectional view of the first embodiment of FIG. 4;
FIG. 7 is an exploded view of the first embodiment of FIG. 6;
FIG. 8 is an enlarged schematic view of the first and second gears of the first embodiment of FIG. 7;
fig. 9 is an exploded view of the first pawl seat and the first pawl body according to the first embodiment of the present invention;
fig. 10 is an exploded view of a second pawl seat and a second pawl body according to a first embodiment of the present invention;
FIG. 11 is a schematic view showing an assembled and engaged structure of a second transmission mechanism and a second one-way transmission device according to the third embodiment;
FIG. 12 is a schematic structural view of a first transmission mechanism according to a fourth embodiment;
FIG. 13 is a schematic structural diagram of an underwater cleaning robot applying a two-wheel-drive walking steering mechanism in the fifth embodiment.
Wherein the reference numerals are: the first drive wheel 1, the water outlet hole 11, the drive shaft 2, the power device 3, the motor 31, the worm 32, the worm wheel 33, the first transmission mechanism 4, the first input part 41, the first output part 42, the sun gear 421, the second transmission mechanism 5, the planet wheel 51, the second output part 52, the planet carrier 53, the first gear 54, the first one-way transmission device 6, the first pawl seat 61, the first slideway 611, the first pawl body 62, the first ratchet wheel 63, the second one-way transmission device 7, the second pawl seat 71, the second slideway 711, the second pawl body 72, the second ratchet wheel 73, the second gear 74, the second drive wheel 8, the internal teeth 81 and the impeller 9.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In the first embodiment, as shown in fig. 1 to 10:
double round drive walking steering mechanism, including controlling first drive wheel 1 and the second drive wheel 8 of subtending setting, with first drive wheel 1 and the coaxial drive shaft 2 of second drive wheel 8, characterized by: one end of the driving shaft 2 is fixed on the first driving wheel 1, and the other end is provided with a first one-way transmission device 6 which can drive the second driving wheel 8 to rotate forward;
the device also comprises a first transmission mechanism 4, wherein the first transmission mechanism 4 is provided with a first input part 41 and a first output part 42 which have the same rotation direction, the first input part 41 is in transmission connection with a power device 3 capable of providing positive and negative rotation, and the first output part 42 is in transmission connection with the driving shaft 2;
the first output part 42 is connected with a second transmission mechanism 5 in a transmission way, the second transmission mechanism 5 comprises a second output part 52 with the direction opposite to that of the first output part 42, and the second output part 52 is provided with a second one-way transmission device 7 capable of driving the second driving wheel 8 to rotate positively.
In the embodiment, the first one-way transmission device 6 and the second one-way transmission device 7 are respectively one-way ratchet mechanisms, and the first transmission mechanism 4 is a speed reducer.
In the embodiment, the first transmission mechanism 4 is a planetary gear reducer that is axially fitted over the drive shaft 2, and other components except the first output portion 42 are not in contact with the drive shaft 2.
In the embodiment, as shown in fig. 8, the second output portion 52 is a ring gear sleeved on the outer periphery of the driving shaft 2, the first output portion 42 is coaxially provided with a sun gear 421, the sun gear 421 and the second output portion 52 are provided with planet gears 51 in a meshing transmission manner, and the planet gears 51 are provided with a fixed planet carrier 53. The sun wheel 421 carries the planet wheels 51 into rotation, while the second output 52 is turned in the opposite direction to the sun wheel 421.
In the embodiment, as shown in fig. 7, the first unidirectional transmission device 6 comprises a first pawl seat 61 fixed at the end of the driving shaft 2, a first pawl body 62 is arranged on the first pawl seat 61, and a first ratchet wheel 63 is arranged on the second driving wheel 8;
as shown in fig. 7, the second unidirectional transmission device 7 comprises a second pawl seat 71 connected to the second output part 52, a second pawl body 72 is arranged on the second pawl seat 71, and a second ratchet wheel 73 is arranged on the second driving wheel 8.
In an embodiment, as shown in fig. 9, the first pawl body 62 is a radially arranged cylinder, the first pawl seat 61 is provided with a first slideway 611 for clearance accommodation of the first pawl body 62, as shown in fig. 7, the first ratchet wheel 63 is an inter-engaging ratchet wheel arranged in the second driving wheel 8;
as shown in fig. 10, the second pawl body 72 is a radially arranged cylinder, the second pawl seat 71 is provided with a second slideway 711 for clearance accommodating the second pawl body 72, and as shown in fig. 7, the second ratchet wheel 73 is an external engagement ratchet wheel arranged on the second drive wheel 8.
In the embodiment, as shown in fig. 4 to 7, the power unit 3 includes a motor 31 capable of providing forward and reverse rotation, and a worm gear and worm transmission structure including a worm wheel 33 and a worm 32, the worm wheel 33 is coaxially connected to the first input portion 41, and the worm 32 is coaxially fixed to the output shaft of the motor 31.
Example two, as shown in fig. 1 to 5:
double round drive walking steering mechanism, including controlling first drive wheel 1 and the second drive wheel 8 of subtending setting, with first drive wheel 1 and the coaxial drive shaft 2 of second drive wheel 8, characterized by: one end of the driving shaft 2 is fixed on the first driving wheel 1, and the other end is provided with a first one-way transmission device 6 which can drive the second driving wheel 8 to rotate forward;
the device also comprises a first transmission mechanism 4, wherein the first transmission mechanism 4 is provided with a first input part 41 and a first output part 42 which have the same rotation direction, the first input part 41 is in transmission connection with a power device 3 capable of providing positive and negative rotation, and the first output part 42 is in transmission connection with the driving shaft 2;
the first output part 42 is connected with a second transmission mechanism 5 in a transmission way, the second transmission mechanism 5 comprises a second output part 52 with the direction opposite to that of the first output part 42, and the second output part 52 is provided with a second one-way transmission device 7 capable of driving the second driving wheel 8 to rotate positively.
In the embodiment, the first one-way transmission device 6 and the second one-way transmission device 7 are respectively one-way ratchet mechanisms, and the first transmission mechanism 4 is a speed reducer.
In the embodiment, the first transmission mechanism 4 is an involute few-tooth-difference reducer axially sleeved on the driving shaft 2, and other parts except the first output part 42 are not in contact with the driving shaft 2.
In the embodiment, the power device 3 includes a motor 31 capable of providing positive and negative rotation, and a worm gear structure including a worm wheel 33 and a worm 32, the worm wheel 33 is coaxially connected to the first input portion 41, and the worm 32 is coaxially fixed to an output shaft of the motor 31.
In the third embodiment, as shown in fig. 13,
double round drive walking steering mechanism, including controlling first drive wheel 1 and the second drive wheel 8 of subtending setting, with first drive wheel 1 and the coaxial drive shaft 2 of second drive wheel 8, characterized by: one end of the driving shaft 2 is fixed on the first driving wheel 1, and the other end is provided with a first one-way transmission device 6 which can drive the second driving wheel 8 to rotate forward;
the device also comprises a first transmission mechanism 4, wherein the first transmission mechanism 4 is provided with a first input part 41 and a first output part 42 which have the same rotation direction, the first input part 41 is in transmission connection with a power device 3 capable of providing positive and negative rotation, and the first output part 42 is in transmission connection with the driving shaft 2;
the first output part 42 is connected with a second transmission mechanism 5 in a transmission way, the second transmission mechanism 5 comprises a second output part 52 with the direction opposite to that of the first output part 42, and the second output part 52 is provided with a second one-way transmission device 7 capable of driving the second driving wheel 8 to rotate positively.
In the embodiment, the first one-way transmission device 6 and the second one-way transmission device 7 are respectively one-way ratchet mechanisms, and the first transmission mechanism 4 is a speed reducer.
In the embodiment, the first transmission 4 is a pulley transmission, comprising a first input 41 and a first output 42 as two pulleys.
Example four, as shown in figures 1, 2, 3, 4 and 11,
double round drive walking steering mechanism, including controlling first drive wheel 1 and the second drive wheel 8 of subtending setting, with first drive wheel 1 and the coaxial drive shaft 2 of second drive wheel 8, characterized by: one end of the driving shaft 2 is fixed on the first driving wheel 1, and the other end is provided with a first one-way transmission device 6 which can drive the second driving wheel 8 to rotate forward;
the device also comprises a first transmission mechanism 4, wherein the first transmission mechanism 4 is provided with a first input part 41 and a first output part 42 which have the same rotation direction, the first input part 41 is in transmission connection with a power device 3 capable of providing positive and negative rotation, and the first output part 42 is in transmission connection with the driving shaft 2;
the first output part 42 is connected with a second transmission mechanism 5 in a transmission way, the second transmission mechanism 5 comprises a second output part 52 with the direction opposite to that of the first output part 42, and the second output part 52 is provided with a second one-way transmission device 7 capable of driving the second driving wheel 8 to rotate positively.
In the embodiment, the first one-way transmission device 6 and the second one-way transmission device 7 are respectively one-way ratchet mechanisms, and the first transmission mechanism 4 is a speed reducer.
In the embodiment, the first transmission mechanism 4 is a planetary gear reducer that is axially fitted over the drive shaft 2, and other components except the first output portion 42 are not in contact with the drive shaft 2.
In the embodiment, the first output portion 42 is coaxially provided with a sun gear 421, and the second output portion 52 includes a first gear 54 meshed with the sun gear 421; the inner ring of the second driving wheel 8 is provided with internal teeth 81, the second one-way transmission device 7 comprises a second gear 74 meshed with the internal teeth 81 for transmission, a second pawl seat 71 coaxially connected with the second output part 52, a second pawl body 72 is arranged on the second pawl seat 71, and a second ratchet wheel 73 is arranged on the second gear 74.
In the embodiment, the power device 3 includes a motor 31 capable of providing positive and negative rotation, and a worm gear structure including a worm wheel 33 and a worm 32, the worm wheel 33 is coaxially connected to the first input portion 41, and the worm 32 is coaxially fixed to an output shaft of the motor 31.
In the fifth embodiment, as shown in fig. 13,
the underwater cleaning robot applying the double-wheel drive walking steering mechanism comprises the double-wheel drive walking steering mechanism, an impeller 9 serving as a water filtering and pumping mechanism is sleeved on the first driving wheel 1 in a coaxial gap mode, the impeller 9 is in transmission connection with the power device 3, and a water outlet hole 11 is formed in the side wall of the first driving wheel 1. The power device 3 can drive the equipment to walk, turn and pump water.
Walking principle of the first to fifth embodiments:
as shown in fig. 2, the power device 3 drives the first input portion 41 to rotate forward, the first input portion 41 drives the first output portion 42 to rotate forward, the first output portion 42 drives the driving shaft 2 to rotate forward, one end of the driving shaft 2 directly drives the first driving wheel 1 to rotate forward, and the other end drives the second driving wheel 8 to rotate forward through the first one-way transmission device 6. At the same time, the second output portion 52 rotates in the reverse direction, and the second one-way transmission 7 is engaged in the normal direction and slips in the reverse direction, so that the second one-way transmission 7 cannot generate the driving force to the second drive wheels 8.
The steering principle of the first to fifth embodiments:
as shown in fig. 3, the power device 3 drives the first input portion 41 to rotate reversely, the first input portion 41 drives the first output portion 42 to rotate reversely, the first output portion 42 drives the driving shaft 2 to rotate reversely, one end of the driving shaft 2 directly drives the first driving wheel 1 to rotate reversely, and the driving shaft 2 cannot generate driving force for the second driving wheel 8 because the first one-way transmission device 6 is engaged in the forward rotation and slips in the reverse rotation at the other end. At the same time, the second output portion 52 rotates forward, and the second one-way transmission 7 engages with the second drive wheel 8 to generate a driving force for forward rotation because the second one-way transmission 7 slips in the forward rotation engagement and reverse rotation manner. Eventually causing the first drive wheel 1 to rotate in reverse and the second drive wheel 8 to rotate in forward direction, thereby steering the apparatus.
While the preferred embodiments of the present invention have been illustrated, various changes and modifications may be made by those skilled in the art without departing from the scope of the present invention.
Claims (10)
1. Double round drive walking steering mechanism, first drive wheel (1) and second drive wheel (8) including controlling the subtend setting, with first drive wheel (1) and coaxial drive shaft (2) of second drive wheel (8), characterized by: one end of the driving shaft (2) is fixed on the first driving wheel (1), and the other end is provided with a first one-way transmission device (6) which can drive the second driving wheel (8) to rotate forward;
the device is characterized by further comprising a first transmission mechanism (4), wherein the first transmission mechanism (4) is provided with a first input part (41) and a first output part (42) which have the same rotation direction, the first input part (41) is in transmission connection with a power device (3) capable of providing positive and negative rotation, and the first output part (42) is in transmission connection with the driving shaft (2);
the first output part (42) is connected with a second transmission mechanism (5) in a transmission mode, the second transmission mechanism (5) comprises a second output part (52) with the rotation direction opposite to that of the first output part (42), and the second output part (52) is provided with a second one-way transmission device (7) capable of driving the second driving wheel (8) to rotate positively.
2. The two-wheel drive travel steering mechanism of claim 1, wherein: the first one-way transmission device (6) and the second one-way transmission device (7) are respectively one-way ratchet mechanisms, and the first transmission mechanism (4) is a speed reducer.
3. The two-wheel drive travel steering mechanism of claim 2, wherein: the first transmission mechanism (4) is a planetary gear reducer which is axially sleeved on the driving shaft (2).
4. The two-wheel drive travel steering mechanism of claim 3, wherein: second output portion (52) for the cover establish the ring gear at drive shaft (2) periphery, first output portion (42) on the coaxial sun gear (421) that is equipped with, sun gear (421) with second output portion (52) between the meshing transmission be equipped with planet wheel (51), planet wheel (51) equip with fixed planet carrier (53).
5. The two-wheel drive travel steering mechanism of claim 4, wherein: the first one-way transmission device (6) comprises a first pawl seat (61) fixed at the end part of the driving shaft (2), a first pawl body (62) is arranged on the first pawl seat (61), and a first ratchet wheel (63) is arranged on the second driving wheel (8);
the second one-way transmission device (7) comprises a second pawl seat (71) connected with the second output part (52), a second pawl body (72) is arranged on the second pawl seat (71), and a second ratchet wheel (73) is arranged on the second driving wheel (8).
6. The two-wheel drive travel steering mechanism of claim 5, wherein: the first pawl body (62) is a cylinder arranged in the radial direction, the first pawl seat (61) is provided with a first slideway (611) for accommodating the first pawl body (62) with clearance, and the first ratchet wheel (63) is an internal meshing ratchet wheel arranged in the second driving wheel (8);
the second pawl body (72) is a cylinder arranged in the radial direction, the second pawl seat (71) is provided with a second slideway (711) which is used for accommodating the second pawl body (72) in a clearance mode, and the second ratchet wheel (73) is an external meshing ratchet wheel arranged on the second driving wheel (8).
7. The two-wheel drive travel steering mechanism of claim 2, wherein: the first transmission mechanism (4) is an involute small-tooth-difference reducer which is axially sleeved on the driving shaft (2).
8. The two-wheel drive travel steering mechanism of claim 2, wherein: the first transmission mechanism (4) is a belt pulley transmission and comprises a first input part (41) and a first output part (42) which are two belt pulleys.
9. The two-wheel drive travel steering mechanism of claim 3, wherein: a sun gear (421) is coaxially arranged on the first output part (42), and the second output part (52) comprises a first gear (54) meshed with the sun gear (421); the inner ring of the second driving wheel (8) is provided with internal teeth (81), the second one-way transmission device (7) comprises a second gear (74) in meshing transmission with the internal teeth (81) and a second pawl seat (71) coaxially connected with the second output part (52), a second pawl body (72) is arranged on the second pawl seat (71), and a second ratchet wheel (73) is arranged on the second gear (74).
10. An underwater cleaning robot applying a double-wheel drive walking steering mechanism is characterized in that: include double round drive walking steering mechanism, first drive wheel (1) coaxial gap cover be equipped with impeller (9) as filtration pump water mechanism, impeller (9) transmission even in power device (3), the lateral wall of first drive wheel (1) be equipped with apopore (11).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020509848.8U CN212022785U (en) | 2020-04-09 | 2020-04-09 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
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|---|---|---|---|
| CN202020509848.8U CN212022785U (en) | 2020-04-09 | 2020-04-09 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
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| CN212022785U true CN212022785U (en) | 2020-11-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267954A (en) * | 2020-04-09 | 2020-06-12 | 宁波普乐菲智能科技有限公司 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
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- 2020-04-09 CN CN202020509848.8U patent/CN212022785U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267954A (en) * | 2020-04-09 | 2020-06-12 | 宁波普乐菲智能科技有限公司 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
| CN111267954B (en) * | 2020-04-09 | 2024-07-16 | 淮安普乐菲智能科技有限公司 | Double-wheel driving walking steering mechanism and underwater cleaning robot using same |
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Effective date of registration: 20230717 Address after: 223300 no.226, Huaihe East Road, Huaiyin District, Huai'an City, Jiangsu Province Patentee after: Ningbo Pulefei Intelligent Technology Co.,Ltd. Address before: 315193 Zhejiang city of Ningbo province Yinzhou District Jiang Shan Zhen Tang Hamura Patentee before: NINGBO PULEFEI INTELLIGENT TECHNOLOGY Co.,Ltd. |