CN213159375U - Robot leg building block - Google Patents
Robot leg building block Download PDFInfo
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- CN213159375U CN213159375U CN202021417595.8U CN202021417595U CN213159375U CN 213159375 U CN213159375 U CN 213159375U CN 202021417595 U CN202021417595 U CN 202021417595U CN 213159375 U CN213159375 U CN 213159375U
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Abstract
The utility model provides a robot leg building block, which comprises a foot plate (401), a ball head connecting rod (402), a swinging rod component, a first gear (403) and a swinging lower bracket (404); the upper end of the ball head connecting rod (402) is connected with a ball head of the first gear (403) and is eccentrically arranged; the lower end of the ball head connecting rod (402) is connected with the ball head of the foot plate (401); the swing rod assembly comprises a first swing rod (405) and a second swing rod (406), and the first swing rod (405), the ball head connecting rod (402) and the second swing rod (406) are sequentially arranged; under the drive of the first gear (403), the movement of the ball head connecting rod (402) alternately applies thrust to the first swinging rod (405) and the second swinging rod (406) on two sides, so that the first swinging rod (405) and the second swinging rod (406) jointly drive the foot plate (401) to move through the swinging lower bracket (404). The utility model provides a robot leg building blocks can realize multi freedom's motion and shank and foot motion coordination.
Description
Technical Field
The utility model relates to a toy specifically, relates to robot leg building blocks.
Background
The leg parts of most robots in the market adopt a wheel type structure, the motion similar to the walking of people can not be realized, the leg parts and the foot parts of a few robots which do not adopt the wheel type structure can only realize the motion of one degree of freedom, namely the motion along the advancing direction, so that the walking motion of the robot legs is hard, the structure of the leg parts of the few robots which can realize the motion of multiple degrees of freedom is quite complex, and the cost and the selling price are very high.
The prior art lacks a robot leg with simple structure and coordinated walking action, and the blank needs to be filled urgently.
Patent document CN110539303A discloses a humanoid walking robot. The technical scheme has the defects that the legs and the feet of the robot can only realize the movement with one degree of freedom, and the walking motion is rigid mechanical.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a robot leg building blocks.
According to the utility model, the robot leg building block comprises a foot plate, a ball head connecting rod, a swing rod component, a first gear and a swing lower bracket;
the upper end of the ball head connecting rod is connected with the first gear ball head and is eccentrically arranged;
the lower end of the ball head connecting rod is connected with the ball head of the foot plate;
the swing rod assembly comprises a first swing rod and a second swing rod, and the first swing rod, the ball head connecting rod and the second swing rod are sequentially arranged;
under the driving of the first gear, the movement of the ball head connecting rod alternately applies thrust to the first swinging rod and the second swinging rod on two sides, so that the first swinging rod and the second swinging rod drive the foot plate to move together through the swinging lower bracket.
Preferably, the foot plate is provided with a first ball head connecting part and a pin connecting part;
a first ball head mounting part and a second ball head mounting part are respectively arranged at two ends of the ball head connecting rod;
the first gear is provided with a second ball head connecting part, and the position of the second ball head connecting part deviates from the rotating shaft of the first gear;
the rotating shaft of the first gear is in a first direction, the rotating shaft of the pin connecting part is in a second direction, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction and the first direction;
a connecting line of ball head central points of the first ball head connecting part and the second ball head connecting part is intersected with a plane where the second direction and the third direction are located, the first ball head connecting part and the second ball head connecting part are respectively connected with a ball head connecting rod through a first ball head mounting part and a second ball head mounting part, and the ball head connecting rod is intersected with the plane where the second direction and the third direction are located;
the first swing rod and the second swing rod form a parallelogram link mechanism, the parallelogram link mechanism is connected with the swing lower support and drives the swing lower support to swing, and the plane of the swing track is parallel to the planes of the second direction and the third direction.
Preferably, the robot leg building block further comprises a bolt;
the first ball head connecting part is movably connected with the first ball head mounting part to form a ball head transmission pair, the second ball head connecting part is movably connected with the second ball head mounting part to form a ball head transmission pair, the first gear drives the ball head connecting rod through the ball head transmission pair, and the ball head connecting rod drives the foot plate through the ball head transmission pair;
a second ball head connecting part of the first gear is movably connected with the first swing rod and the second swing rod through a second ball head mounting part to drive the parallelogram link mechanism;
the swing lower support is connected with a pin connecting part of the foot plate through a pin, and the foot plate can rotate around a rotating shaft of the pin through the pin connecting part;
the first swing rod is rotatably connected with the swing lower support, the second swing rod is rotatably connected with the swing lower support, the swing lower support is rotatably connected with the bolt, and the bolt is rotatably connected with the pin connection part.
Preferably, the device further comprises a second gear and a third gear;
a transmission connecting interface is arranged on the third gear, and the transmission connecting interface is a cross shaft;
the third gear is meshed with the second gear to form a gear transmission pair, and the third gear drives the second gear;
the second gear is meshed with the first gear to form a gear transmission pair, and the second gear drives the first gear.
Preferably, also include the fixed mount;
the first swinging rod, the second swinging rod, the first gear, the second gear and the third gear are movably connected with the fixed frame;
the fixing frame is provided with an output hole, the second ball head connecting part of the first gear penetrates through the output hole, and the output hole does not interfere with the movement of the second ball head connecting part.
Preferably, the device further comprises an upper cover;
the upper cover is tightly connected with the fixed frame and the lower cover.
Preferably, the device further comprises a lower cover;
the lower cover is fixedly connected with the fixed frame, and the meshing part of the third gear and the second gear and the meshing part of the second gear and the first gear are positioned in the accommodating space formed by the lower cover and the fixed frame;
the third gear, the second gear, the first gear and the lower cover are movably connected.
Preferably, cover down and be provided with building blocks concatenation interface, building blocks concatenation interface includes circular recess, and circular recess axis perpendicular to covers the surface down, is provided with the stupefied strip form anti-drop structure of equipartition on the circular recess inside wall.
Preferably, an input hole is formed in the bottom surface of the circular groove of the lower cover, the cross shaft of the third gear penetrates through the input hole, and the end surface of the cross shaft does not protrude out of the outer surface of the lower cover.
Preferably, the device further comprises a front cover and a rear cover;
the upper end of the front cover is movably connected with the upper end of the fixing frame, the lower end of the front cover is fixedly connected with the rear cover, and the ball head connecting rod, the first swing rod, the second ball head connecting part and the swing lower support are positioned in an accommodating space formed by connecting the front cover and the rear cover;
the first swing rod is movably connected with the front cover and can contact the front cover to drive the front cover to move;
the second swing rod is movably connected with the front cover and can contact the front cover to drive the front cover to move.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the rotation input of the first gear in a single direction is converted into the multi-directional and constantly-changing driving force applied to the foot plate through the ball head connection between the first gear, the eccentrically-arranged ball head connecting rod and the foot plate, so that the conversion from the input of the first gear in the single direction to the movement of multiple degrees of freedom is realized, the problem that the motion of the foot part of a robot leg is hard and mechanical due to only one movement degree of freedom is solved, and the structure is simple;
2. the foot plate and the parallelogram link mechanism consisting of the oscillating rods are driven by the ball head connecting rod simultaneously, so that the ball head connecting rod simultaneously controls the motion of the foot plate and the oscillation of the robot leg (namely the oscillating rods), the instant synchronous control of the single input of the ball head connecting rod on the foot plate and the robot leg is realized, the coordinated motion of the foot plate and the robot leg is realized, the problem that the motion of the foot part and the leg part of the robot leg is disconnected to cause the action to be hard mechanical is solved, and the structure is simple;
3. the transmission parts of the robot legs are covered by the upper cover, the lower cover, the front cover and the rear cover, so that children can not contact the transmission parts in motion, the injury (such as finger clamping injury) possibly brought to the children by the transmission parts in motion is avoided, and the problem that the transmission parts of the building blocks exposed outside can hurt the children is solved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of a robot leg building block;
FIG. 2 is a schematic structural view of a robot leg building block;
FIG. 3 is a schematic structural view of a robot leg building block;
FIG. 4 is a schematic structural view of a robot leg building block;
FIG. 5 is a schematic structural view of a robot leg building block;
FIG. 6 is a schematic structural view of a building block foot plate of a robot leg;
FIG. 7 is a schematic structural view of a robot leg building block;
FIG. 8 is an exploded view of a component of a robot leg building block;
fig. 9 is a schematic structural view of a robot leg building block.
In the figure:
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Second ball |
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Cross 415 |
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Fixed |
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Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Examples
Fig. 1 to 9 are schematic views of the robot leg building block provided by the present invention.
The robot leg building block comprises a foot plate 401, a ball head connecting rod 402, a swing rod, a first gear 403, a second gear 413, a third gear 414, a bolt 407, a swing lower bracket 404, a fixing frame 416, an upper cover 418, a lower cover 419, a front cover 423 and a rear cover 424.
The rotation axis of the first gear 403 is a first direction, the rotation axis of the pin connection portion 409 is a second direction, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction and the first direction.
A first ball mounting part 410 and a second ball mounting part 411 are respectively arranged at two ends of the ball connecting rod 402, the second ball mounting part 411 at the upper end of the ball connecting rod 402 is in ball connection with a second ball connecting part 412 of the first gear 403, the position of the second ball connecting part 412 deviates from the rotating shaft of the first gear 403, the lower end of the ball connecting rod 402 is in ball connection with a first ball connecting part 408 of the foot plate 401, the first gear 403 drives the ball connecting rod 402 through a ball transmission pair, and the ball connecting rod 402 drives the foot plate 401 through the ball transmission pair; a line connecting the ball center points of the first ball head connecting portion 408 and the second ball head connecting portion 412 intersects with a plane where the second direction and the third direction are located, that is, the ball head connecting rod 402 intersects with a plane where the second direction and the third direction are located. The second ball head connecting part 412 arranged eccentrically on the first gear 403, the ball head connecting rod 402 intersected with the plane where the second direction and the third direction are located, and the first ball head connecting part 408 of the foot plate 401 are connected in a transmission mode, so that the rotation input of the first gear 403 in a single direction is converted into multi-direction and constantly changing driving force when being transmitted to the foot plate 401, the foot plate 401 has a multi-direction and constantly changing movement trend, the movement trend is finally limited to the front and back swing of the foot plate and the rotation around the pin 407 under the limitation of the pin 407, the first swing rod 405 and the second swing rod 406, the multi-degree-of-freedom movement of the foot plate of the robot leg is achieved, and the walking motion of the robot leg is smooth and natural.
The swing rods comprise a first swing rod 405 and a second swing rod 406, the first swing rod 405 and the second swing rod 406 form a parallelogram linkage mechanism, the parallelogram linkage mechanism is connected with the swing lower support 404 and drives the swing lower support 404 to swing, and the plane of the swing track is parallel to the planes of the second direction and the third direction; the first swing rod 405, the ball head connecting rod 402 and the second swing rod 406 are sequentially arranged; under the driving of the first gear 403, the second ball mounting portion 411 of the ball connecting rod 402 alternately applies thrust to the first swing rod 405 and the second swing rod 406 on the two sides, and drives the parallelogram link mechanism, so that the first swing rod 405 and the second swing rod 406 jointly drive the foot plate 401 to move through the swing lower bracket 404, the first swing rod 405 is rotatably connected with the swing lower bracket 404, and the second swing rod 406 is rotatably connected with the swing lower bracket 404.
The second ball mounting part 411 at the upper end of the ball connecting rod 402 drives the first swing rod 405 and the second swing rod 406, the first ball mounting part 410 at the lower end of the ball connecting rod 402 drives the foot plate 401, and the ball connecting rod 402 is independently driven by the first gear 403, namely, single input of the ball connecting rod 402 (or the first gear 403) instantly and synchronously drives the swing rod to swing and the foot plate 401 to rotate around the bolt 407, so that the foot plate 401 realizes the coordinated and synchronous motion of the robot legs, and the walking motion of the robot legs is smooth and natural.
The foot board 401 is provided with a pin connecting part 409, the swinging lower bracket 404 is connected with the pin connecting part 409 of the foot board 401 through a bolt 407, the foot board 401 can rotate around a rotating shaft of the bolt 407 through the pin connecting part 409, the swinging lower bracket 404 is connected with the bolt 407 in a rotating mode, and the bolt 407 is connected with the pin connecting part 409 in a rotating mode.
A transmission connection interface in the form of a cross shaft 415 is arranged on the third gear 414, a power output transmission connection interface in the form of a cross head of a building block serving as an external power source can be plugged with the transmission connection interface to realize power input, the third gear 414 is meshed with the second gear 413, and the third gear 414 drives the second gear 413; the second gear 413 is in meshing connection with the first gear 403, and the second gear 413 drives the first gear 403.
The first swing rod 405, the second swing rod 406, the first gear 403, the second gear 413 and the third gear 414 are movably connected with a fixed frame 416, a circular output hole 417 is formed in the fixed frame 416, the second ball head connecting portion 412 of the first gear 403 penetrates through the output hole 417, and the size of the output hole 417 cannot interfere with rotation of the second ball head connecting portion 412 in the output hole 417.
The upper cover 418 is fixedly connected with the fixing frame 416, the upper cover 418 is fixedly connected with the lower cover 419, the lower cover 419 is also fixedly connected with the fixing frame 416, the third gear 414, the second gear 413, the first gear 403 and the lower cover 419 are movably connected, and the meshing part of the third gear 414 and the second gear 413 and the meshing part of the second gear 413 and the first gear 403 are positioned in the accommodating space formed by the lower cover 419 and the fixing frame 416, so that fingers of children can be prevented from being injured by exposed meshing parts.
Building blocks splicing interfaces in the form of circular grooves 104 are arranged on the lower cover 419, the axes of the circular grooves 104 are perpendicular to the outer surface of the lower cover 419, and fillet-shaped anti-falling structures 108 are uniformly distributed on the inner side wall of the circular groove 104 for enhancing the connection strength and preventing connection failure parts from falling due to vibration caused by transmission connection. An input hole 422 is formed in the bottom surface of the circular groove 104 of the lower cover 419, and the cross 415 of the third gear 414 is exposed to the outer surface of the lower cover 419 through the input hole 422, so that the cross 415 can be contacted from the outside of the lower cover 419 and can be plugged into the cross hole of the power output transmission connecting interface of other building blocks, and the end surface of the cross 415 does not protrude out of the outer surface of the lower cover 419.
The upper end of the front cover 423 is movably connected with the upper end of the fixing frame 416, the lower end of the front cover 423 is fixedly connected with the rear cover 424, the ball connecting rod 402, the first swing rod 405, the second swing rod 406, the second ball connecting portion 412 and the swing lower support 404 are located in an accommodating space formed by connecting the front cover 423 and the rear cover 424, the first swing rod 405 is movably connected with the front cover 423, the first swing rod 405 can contact with the front cover 423 to drive the front cover 423 to move, the second swing rod 406 is movably connected with the front cover 423, the second swing rod 406 can contact with the front cover 423 to drive the front cover 423 to move, namely when the front cover 423 is swung by the lower ends of the first swing rod 405 and the second swing rod 406 to contact with the front cover 423, the front cover 423 can move along with the first swing rod 405 and the second swing rod 406.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A robot leg building block is characterized by comprising a foot plate (401), a ball head connecting rod (402), a swinging rod component, a first gear (403) and a swinging lower support (404);
the upper end of the ball head connecting rod (402) is connected with the ball head of the first gear (403) and is eccentrically arranged;
the lower end of the ball head connecting rod (402) is connected with the ball head of the foot plate (401);
the swing rod assembly comprises a first swing rod (405) and a second swing rod (406), and the first swing rod (405), the ball head connecting rod (402) and the second swing rod (406) are arranged in sequence;
under the drive of the first gear (403), the movement of the ball head connecting rod (402) alternately applies thrust to the first swinging rod (405) and the second swinging rod (406) on two sides, so that the first swinging rod (405) and the second swinging rod (406) jointly drive the foot plate (401) to move through the swinging lower bracket (404).
2. The robot leg building block of claim 1, characterized in that the foot plate (401) is provided with a first ball head connection (408) and a pin connection (409);
a first ball head mounting part (410) and a second ball head mounting part (411) are respectively arranged at two ends of the ball head connecting rod (402);
the first gear (403) is provided with a second ball head connecting portion (412), and the position of the second ball head connecting portion (412) is deviated from the rotating shaft of the first gear (403);
the rotating shaft of the first gear (403) is in a first direction, the rotating shaft of the pin connecting part (409) is in a second direction, the second direction is perpendicular to the first direction, and a third direction is perpendicular to the second direction and the first direction;
a connecting line of ball head center points of the first ball head connecting portion (408) and the second ball head connecting portion (412) intersects with a plane where the second direction and the third direction are located, the first ball head connecting portion (408) and the second ball head connecting portion (412) are connected with the ball head connecting rod (402) through the first ball head mounting portion (410) and the second ball head mounting portion (411) respectively, and the ball head connecting rod (402) intersects with the plane where the second direction and the third direction are located;
the first swing rod (405) and the second swing rod (406) form a parallelogram link mechanism, the parallelogram link mechanism is connected with the swing lower support (404) and drives the swing lower support (404) to swing, and the plane of the swing track is parallel to the planes of the second direction and the third direction.
3. The robot leg building block of claim 2, further comprising a latch (407);
the first ball head connecting part (408) is movably connected with the first ball head mounting part (410) to form a ball head transmission pair, the second ball head connecting part (412) is movably connected with the second ball head mounting part (411) to form a ball head transmission pair, the first gear (403) drives the ball head connecting rod (402) through the ball head transmission pair, and the ball head connecting rod (402) drives the foot plate (401) through the ball head transmission pair;
the second ball head connecting part (412) of the first gear (403) is movably connected with the first swinging rod (405) and the second swinging rod (406) through the second ball head mounting part (411) to drive the parallelogram linkage mechanism;
the swing lower bracket (404) is connected with the pin connecting part (409) of the foot plate (401) through the bolt (407), and the foot plate (401) can rotate around a rotating shaft of the bolt (407) through the pin connecting part (409);
first swinging arms (405) with swing lower carriage (404) be connected for rotating, second swinging arms (406) with swing lower carriage (404) be connected for rotating, swing lower carriage (404) with the connection of bolt (407) is for rotating the connection, bolt (407) with the connection of pin connecting portion (409) is for rotating the connection.
4. A robot leg building block according to claim 3, characterized by further comprising a second gear wheel (413) and a third gear wheel (414);
a transmission connecting interface is arranged on the third gear (414), and the transmission connecting interface is a cross shaft (415);
the third gear (414) is meshed with the second gear (413) to form a gear transmission pair, and the third gear (414) drives the second gear (413);
the second gear (413) is meshed with the first gear (403) to form a gear transmission pair, and the second gear (413) drives the first gear (403).
5. The robot leg building block of claim 4, further comprising a mounting bracket (416);
the first swinging rod (405), the second swinging rod (406), the first gear (403), the second gear (413) and the third gear (414) are movably connected with the fixed frame (416);
an output hole (417) is formed in the fixing frame (416), the second ball head connecting portion (412) of the first gear (403) penetrates through the output hole (417), and the output hole (417) does not interfere with the movement of the second ball head connecting portion (412).
6. The robot leg building block of claim 5, further comprising an upper cover (418);
the upper cover (418) is fixedly connected with the fixed frame (416), and the upper cover (418) is fixedly connected with the lower cover (419).
7. The robot leg building block of claim 6, further comprising the lower cover (419);
the lower cover (419) is fixedly connected with the fixed frame (416), and the meshing part of the third gear (414) and the second gear (413) and the meshing part of the second gear (413) and the first gear (403) are positioned in the accommodating space formed by the lower cover (419) and the fixed frame (416);
the third gear (414), the second gear (413) and the first gear (403) are movably connected with the lower cover (419).
8. The robot leg building block of claim 6, wherein the lower cover (419) is provided with a building block splicing interface, the building block splicing interface comprises a circular groove (104), the axis of the circular groove (104) is perpendicular to the outer surface of the lower cover (419), and the inner side wall of the circular groove (104) is provided with uniformly distributed rib-shaped anti-falling structures (108).
9. The robot leg building block of claim 8, characterized in that an input hole (422) is provided on the bottom surface of the circular recess (104) of the lower cover (419), the cross (415) of the third gear (414) passes through the input hole (422), and the end surface of the cross (415) does not protrude out of the outer surface of the lower cover (419).
10. The robot leg building block of claim 5, further comprising a front cover (423) and a rear cover (424);
the upper end of the front cover (423) is movably connected with the upper end of the fixed frame (416), the lower end of the front cover (423) is fixedly connected with the rear cover (424), and the ball head connecting rod (402), the first swinging rod (405), the second swinging rod (406), the second ball head connecting part (412) and the swinging lower support (404) are positioned in an accommodating space formed by connecting the front cover (423) and the rear cover (424);
the first swinging rod (405) is movably connected with the front cover (423), and the first swinging rod (405) can contact the front cover (423) to drive the front cover (423) to move;
the second swing rod (406) is movably connected with the front cover (423), and the second swing rod (406) can contact with the front cover (423) to drive the front cover (423) to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021417595.8U CN213159375U (en) | 2020-07-17 | 2020-07-17 | Robot leg building block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021417595.8U CN213159375U (en) | 2020-07-17 | 2020-07-17 | Robot leg building block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213159375U true CN213159375U (en) | 2021-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021417595.8U Active CN213159375U (en) | 2020-07-17 | 2020-07-17 | Robot leg building block |
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| CN (1) | CN213159375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347057A (en) * | 2022-01-10 | 2022-04-15 | 钛虎机器人科技(上海)有限公司 | Anthropomorphic robot |
-
2020
- 2020-07-17 CN CN202021417595.8U patent/CN213159375U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347057A (en) * | 2022-01-10 | 2022-04-15 | 钛虎机器人科技(上海)有限公司 | Anthropomorphic robot |
| CN114347057B (en) * | 2022-01-10 | 2024-01-30 | 钛虎机器人科技(上海)有限公司 | Humanoid robot |
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| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 200233 3rd floor, building 10, 1016 Tianlin Road, Minhang District, Shanghai Patentee after: Shanghai Brooke building block Technology Co., Ltd Address before: 201100 3rd floor, building 10, 1016 Tianlin Road, Minhang District, Shanghai Patentee before: Shanghai bruco Technology Co.,Ltd. |
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| CP03 | Change of name, title or address |