CN216883953U - Mobile platform for robot - Google Patents
Mobile platform for robot Download PDFInfo
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- CN216883953U CN216883953U CN202220517802.XU CN202220517802U CN216883953U CN 216883953 U CN216883953 U CN 216883953U CN 202220517802 U CN202220517802 U CN 202220517802U CN 216883953 U CN216883953 U CN 216883953U
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Abstract
The application discloses moving platform for robot includes: a movable body; a connecting arm, the lower end of which is rotatably mounted on the movable body; the first pitching driving mechanism is used for driving the connecting arm to rotate; the upper bracket device is rotatably arranged at the upper end of the connecting arm and comprises an installation mechanism for installing a robot; and the second pitching driving mechanism is used for driving the upper bracket device to rotate relative to the connecting arm. The application discloses moving platform can drive linking arm and upper bracket device through first every single move actuating mechanism and rotate, can drive the relative linking arm of upper bracket device through second every single move actuating mechanism and rotate, can enough make the upper bracket device realize the action of going up and down like this, can adjust the focus position of the robot of installation on the upper bracket device as required again, improves and hinders the ability more.
Description
Technical Field
The utility model relates to the field of robots, in particular to a mobile platform for a robot.
Background
In the existing moving platform for the robot, the robot is directly fixed on the moving platform, the height, the angle and the like of the robot relative to the moving platform cannot be adjusted, the use of the robot is limited, and in addition, when obstacles are crossed, the center of gravity of the robot cannot be adjusted, so that the robot is easy to overturn when the obstacles are crossed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the problems and overcomes at least one defect, and provides a mobile platform for a robot.
The technical scheme adopted by the utility model is as follows:
a mobile platform for a robot, comprising:
a movable body;
a connecting arm, the lower end of which is rotatably mounted on the movable body;
the first pitching driving mechanism is used for driving the connecting arm to rotate;
the upper bracket device is rotatably arranged at the upper end of the connecting arm and comprises an installation mechanism for installing the robot; and
and the second pitching driving mechanism is used for driving the upper bracket device to rotate relative to the connecting arm.
The application discloses moving platform can drive linking arm and upper bracket device through first every single move actuating mechanism and rotate, can drive the relative linking arm of upper bracket device through second every single move actuating mechanism and rotate, can enough make the upper bracket device realize the action of going up and down like this, can adjust the focus position of the robot of installation on the upper bracket device as required again, improves and hinders the ability more.
In one embodiment of the present invention, the first pitch driving mechanism is disposed on the movable body, and the first pitch driving mechanism includes:
the rotating connecting assembly is rotatably arranged on the movable body and is fixed with the connecting arm; and
the pitching driving motor is used for driving the corresponding rotating connecting component to rotate;
the second pitch drive mechanism is provided on the upper bracket device, and the second pitch drive mechanism includes:
the rotating connecting assembly is rotatably arranged on the connecting arm and is fixed with the upper bracket device; and
and the pitching driving motor is used for driving the corresponding rotating connecting component to rotate.
In one embodiment of the present invention, there are two groups of the first pitching driving mechanisms respectively located at two sides of the connecting arm; two groups of second pitching driving mechanisms are respectively positioned at two sides of the connecting arm; the rotating connection assembly comprises a first double-curve bevel gear, and a second double-curve bevel gear meshed with the first double-curve bevel gear is mounted on an output shaft of the pitching driving motor.
The hyperbolic bevel gear has the advantages of high bearing capacity, high transmission efficiency, stable transmission, low noise and the like compared with bevel gear transmission due to the fact that the teeth are inclined and the contact ratio is large.
The output shaft of the pitch drive motor in the present application is a general term, and may be a rotating shaft of the motor or a shaft of a reduction motor connected to the motor.
In one embodiment of the present invention, the upper bracket device includes a bracket, and the mounting mechanism includes:
the rotating disc is rotatably arranged on the bracket and is used for installing the robot;
the first gear is coaxially fixed on the rotating disc; and
and the output shaft of the rotation adjusting motor is provided with a second gear meshed with the first gear.
The rotating disc can be driven to rotate by rotating the adjusting motor, so that the robot is driven to rotate.
The first gear and the second gear may be various types of gears, such as a worm gear and a worm gear.
In one embodiment of the present invention, the movable body includes a frame and two main track power mechanisms mounted on the frame; the main track power mechanism comprises:
the first driving wheel is rotatably arranged on the rack;
the first driven wheel is rotatably arranged on the rack;
the first crawler belt is wound on the first driving wheel and the first driven wheel; and
and the crawler driving motor is matched with the first driving wheel through a transmission assembly and is used for driving the first driving wheel to rotate.
In actual use, the transmission assembly can be in various existing structural forms such as a gear set and the like.
In an embodiment of the utility model, the movable main body further includes a power supply battery, a battery frame, and a support roller, the battery frame is fixed to the frame, the power supply battery is mounted on the battery frame and located in the first track, and the support roller is mounted below the battery frame and is configured to be in rolling fit with the first track.
The power supply battery is arranged in the first crawler belt, so that the structural space can be fully utilized, and the structure is more compact; the support rollers can provide support for the first crawler belt, and reliable work of the main crawler belt power mechanism is guaranteed.
In one embodiment of the present invention, the present invention further includes two track arms and a third pitch driving mechanism for driving the track arms to pitch and rotate;
the track arm includes:
the arm supporting plate is positioned on the outer side of the first driving wheel;
one end of the supporting arm shaft is fixed with the supporting arm plate, and the other end of the supporting arm shaft penetrates through the corresponding first driving wheel and then is matched with the third pitching driving mechanism;
the mounting shaft is fixed with the support arm plate;
the second driving wheel is rotatably arranged on the support arm shaft and positioned outside the first driving wheel, and the second driving wheel and the first driving wheel are relatively fixed in the circumferential direction and can synchronously rotate along with the first driving wheel;
the second driven wheel is rotatably arranged on the mounting shaft; and
and the second crawler belt is wound on the second driving wheel and the second driven wheel.
The crawler support arm is arranged on the rack through the support arm shaft, and the angle of the crawler support arm can be adjusted through the third pitching driving mechanism, so that the angle is conveniently formed for obstacle crossing; the second driving wheel and the first driving wheel are relatively fixed in the circumferential direction, the power of the first driving wheel can be shared, and a power mechanism does not need to be additionally arranged on the crawler support arm.
In one embodiment of the present invention, the track arm further comprises a locking screw; the support arm plate is provided with a limiting groove, the outer end of the support arm shaft is embedded into the limiting block of the limiting groove, the outer end of the support arm shaft is provided with a threaded hole, and the support arm shaft is fixed with the support arm plate through a locking screw matched with the threaded hole. The structure is convenient to mount and dismount.
In one embodiment of the present invention, a hollow first tooth is fixed on the first driving wheel, and the track driving motor is engaged with the first tooth through a transmission assembly;
a first cylindrical spline is further fixed in the middle of the first driving wheel, a second cylindrical spline is fixed in the middle of the second driving wheel, and the first cylindrical spline and the second cylindrical spline respectively comprise a cylindrical body and a first connecting key positioned on the outer side wall of the cylindrical body;
the crawler support arm further comprises a spline sleeve, the spline sleeve is sleeved on the first cylindrical spline and the second cylindrical spline, a second connecting key matched with the first connecting key is arranged on the inner side wall of the spline sleeve, and the first driving wheel and the second driving wheel synchronously rotate through the first cylindrical spline, the second cylindrical spline and the spline sleeve;
and the inner end of the supporting arm shaft penetrates through the first cylindrical spline and the second cylindrical spline and then is matched with the third pitching driving mechanism.
The first tooth and the first cylindrical spline of the present application may be either separate components or a unitary piece.
In one embodiment of the present invention, the third pitch driving mechanism includes:
the transmission shaft is rotatably arranged on the rack and is connected with the supporting arm shaft, and the transmission shaft drives the supporting arm shaft to synchronously rotate when rotating; and
the support arm driving motor is used for driving the transmission shaft to rotate;
the transmission shafts are two and are respectively matched with the corresponding support arm shafts, and the two transmission shafts are fixed through the connecting shaft to realize synchronous rotation.
In one embodiment of the present invention, the track arm further includes a weight block fixed to the arm plate, and the upper and lower ends of the weight block have track support plates engaged with the second track.
The utility model has the beneficial effects that: the application discloses moving platform can drive linking arm and upper bracket device through first every single move actuating mechanism and rotate, can drive the relative linking arm of upper bracket device through second every single move actuating mechanism and rotate, can enough make the upper bracket device realize the action of going up and down like this, can adjust the focus position of the robot of installation on the upper bracket device as required again, improves and hinders the ability more.
Drawings
FIG. 1 is a schematic illustration of a mobile platform after retraction of the track arms;
FIG. 2 is a schematic diagram of an embodiment of a mobile platform;
FIG. 3 is a top view of the mobile platform;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is an exploded view of the upper bracket assembly;
FIG. 6 is a partial exploded view of the mobile platform;
fig. 7 is a partial exploded view of the mobile platform with a partial structure omitted;
FIG. 8 is a schematic view of the first cylindrical spline, the second cylindrical spline and the spline housing;
FIG. 9 is a schematic view of a first double-curved bevel gear and a second double-curved bevel gear;
fig. 10 is a schematic view of the mobile platform with the robot installed.
The figures are numbered:
1. a mobile platform; 2. a movable body; 3. a connecting arm; 4. a first pitch drive mechanism; 5. an upper bracket device; 6. an installation mechanism; 7. a second pitch drive mechanism; 8. rotating the connecting assembly; 9. a pitch drive motor; 10. a first double-curve bevel gear; 11. a second double-curved bevel gear; 12. a bracket; 13. rotating the disc; 14. a first gear; 15. rotating the adjusting motor; 16. a second gear; 17. a frame; 18. a main crawler belt power mechanism; 19. a first drive wheel; 20. a first driven wheel; 21. a first track; 22. a track drive motor; 23. a transmission assembly; 24. a power supply battery; 25. supporting the rollers; 26. a battery holder; 27. a crawler support arm; 28. a third pitch drive mechanism; 29. an arm supporting plate; 30. an arm shaft; 31. installing a shaft; 32. a second drive wheel; 33. a second driven wheel; 34. a second crawler belt; 35. locking the screw; 36. a limiting groove; 37. a limiting block; 38. a threaded hole; 39. a first cylindrical spline; 40. a second barrel spline; 41. a cylindrical body; 42. a first connecting key; 43. a spline housing; 44. a second connecting key; 45. a drive shaft; 46. a support arm driving motor; 47. a connecting shaft; 48. a balancing weight; 49. track backup pad.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a mobile platform 1 for a robot includes:
a movable body 2;
a connecting arm 3, the lower end of which is rotatably mounted on the movable body 2;
the first pitching driving mechanism 4 is used for driving the connecting arm 3 to rotate;
an upper bracket device 5 rotatably mounted on the upper end of the connecting arm 3, the upper bracket device 5 including a mounting mechanism 6 for mounting the robot; and
and a second pitching driving mechanism 7 for driving the upper bracket device 5 to rotate relative to the connecting arm 3.
The application of mobile platform 1 can drive linking arm 3 and upper bracket device 5 through first every single move actuating mechanism 4 and rotate, can drive the relative linking arm 3 of upper bracket device 5 through second every single move actuating mechanism 7 and rotate, can enough make upper bracket device 5 realize the action of going up and down like this, can adjust the focus position of the robot of installation on upper bracket device 5 as required again, improves and hinders the ability more.
As shown in fig. 3, 4, 5 and 7, in the present embodiment, the first pitch drive mechanism 4 is provided on the movable body 2, and the first pitch drive mechanism 4 includes:
a rotating connection assembly 8 rotatably mounted on the movable body 2 and fixed with the connecting arm 3; and
the pitching driving motor 9 is used for driving the corresponding rotating connecting component 8 to rotate;
the second pitch drive mechanism 7 is provided on the upper bracket device 5, and the second pitch drive mechanism 7 includes:
a rotary connecting assembly 8 rotatably mounted on the connecting arm 3 and fixed with the upper bracket device 5; and
and the pitching driving motor 9 is used for driving the corresponding rotating connecting component 8 to rotate.
As shown in fig. 4, 5, 7 and 9, in the present embodiment, there are two sets of the first pitch drive mechanisms 4, which are respectively located on both sides of the connecting arm 3; two groups of second pitching driving mechanisms 7 are respectively positioned at two sides of the connecting arm 3; the rotation connecting assembly 8 comprises a first double-bevel gear 10, and a second double-bevel gear 11 meshed with the first double-bevel gear 10 is mounted on an output shaft of the pitching driving motor 9.
The hyperbolic bevel gear has the advantages of high bearing capacity, high transmission efficiency, stable transmission, low noise and the like compared with bevel gear transmission due to the fact that the teeth are inclined and the contact ratio is large.
The output shaft of the pitch drive motor 9 in the present application is a general term, and may be a rotating shaft of a motor or a shaft of a reduction motor connected to a motor.
As shown in fig. 4 and 5, in the present embodiment, the upper bracket device 5 includes a bracket 12, and the mounting mechanism 6 includes:
a rotating disc 13 rotatably mounted on the bracket 12, the rotating disc 13 being used for mounting the robot;
a first gear 14 coaxially fixed to the rotating disk 13; and
a rotation adjusting motor 15, and a second gear 16 meshed with the first gear 14 is mounted on an output shaft of the rotation adjusting motor 15.
The rotating disc 13 can be driven to rotate by rotating the adjusting motor 15, so that the robot is driven to rotate.
The first gear 14 and the second gear 16 may be any of a variety of gears, such as the first gear 14 may be a worm gear and the second gear 16 may be a worm.
As shown in fig. 6 and 7, in the present embodiment, the movable body 2 includes a frame 17 and two main track power mechanisms 18 mounted on the frame 17; the main track power mechanism 18 includes:
a first driving wheel 19 which is rotatably arranged on the frame 17;
a first driven wheel 20 rotatably mounted on the frame 17;
a first crawler belt 21 wound around the first driving wheel 19 and the first driven wheel 20; and
and the track driving motor 22 is matched with the first driving wheel 19 through a transmission assembly 23 and is used for driving the first driving wheel 19 to rotate.
In practice, the transmission assembly 23 may be a gear set or other conventional structure.
As shown in fig. 6, in the present embodiment, the movable body 2 further includes a power supply battery 24, a battery holder 26 and a support roller 25, the battery holder 26 is fixed to the frame 17, the power supply battery 24 is mounted on the battery holder 26 and located in the first crawler 21, and the support roller 25 is mounted below the battery holder 26 for rolling engagement with the first crawler 21.
The power supply battery 24 is arranged in the first crawler belt 21, which can make full use of the structural space and make the structure more compact; the support rollers 25 can provide support for the first track 21 to ensure reliable operation of the main track power mechanism 18.
As shown in fig. 1, 2, 4, 6 and 7, in the present embodiment, two track arms 27 and a third pitch driving mechanism 28 for driving the track arms 27 to pitch and rotate are further included;
the track arm 27 includes:
a support arm plate 29 located outside the first drive pulley 19;
one end of the supporting arm shaft 30 is fixed with the supporting arm plate 29, and the other end of the supporting arm shaft passes through the corresponding first driving wheel 19 and then is matched with the third pitching driving mechanism 28;
a mounting shaft 31 fixed to the arm plate 29;
the second driving wheel 32 is rotatably mounted on the arm shaft 30 and positioned outside the first driving wheel 19, and the second driving wheel 32 and the first driving wheel 19 are relatively fixed in the circumferential direction and can synchronously rotate along with the first driving wheel 19;
a second driven pulley 33 rotatably mounted on the mounting shaft 31; and
and a second crawler belt 34 wound around the second driving wheel 32 and the second driven wheel 33.
The crawler support arm 27 is arranged on the frame 17 through a support arm shaft 30, and the angle of the crawler support arm 27 can be adjusted through the third pitching driving mechanism 28, so that the angle is conveniently formed for obstacle crossing; the second driving wheel 32 and the first driving wheel 19 are relatively fixed in the circumferential direction, so that the power of the first driving wheel 19 can be shared, and a power mechanism does not need to be additionally arranged on the crawler support arm 27.
As shown in fig. 4 and 6, in this embodiment, track arm 27 further includes a locking screw 35; the arm plate 29 is provided with a limiting groove 36, the outer end of the arm shaft 30 is provided with a limiting block 37 embedded in the limiting groove 36, the outer end of the arm shaft 30 is provided with a threaded hole 38, and the arm shaft 30 is fixed with the arm plate 29 through a locking screw 35 matched with the threaded hole 38. The structure is convenient to mount and dismount.
In this embodiment, a hollow first tooth (not shown) is fixed on the first driving wheel 19, and the track driving motor 22 is engaged with the first tooth through a transmission assembly 23;
as shown in fig. 4, 6, 7 and 8, the first drive wheel 19 is further fixed with a first cylindrical spline 39 at the middle part thereof, the second drive wheel 32 is fixed with a second cylindrical spline 40 at the middle part thereof, and each of the first cylindrical spline 39 and the second cylindrical spline 40 comprises a cylindrical body 41 and a first connecting key 42 located on the outer side wall of the cylindrical body 41;
the track support arm 27 further comprises a spline housing 43, the spline housing 43 is sleeved on the first cylindrical spline 39 and the second cylindrical spline 40, the inner side wall of the spline housing 43 is provided with a second connecting key 44 matched with the first connecting key 42, and the first driving wheel 19 and the second driving wheel 32 realize synchronous rotation through the first cylindrical spline 39, the second cylindrical spline 40 and the spline housing 43;
the inner end of the boom shaft 30 passes through the first cylindrical spline 39 and the second cylindrical spline 40 and engages with the third pitch drive mechanism 28.
The first teeth and the first cylindrical spline 39 of the present application can be either separate components or a unitary piece.
As shown in fig. 4 and 7, in the present embodiment, the third pitch drive mechanism 28 includes:
the transmission shaft 45 is rotatably arranged on the rack 17, the transmission shaft 45 is connected with the support arm shaft 30, and the transmission shaft 45 drives the support arm shaft 30 to synchronously rotate when rotating; and
the support arm driving motor 46 is used for driving the transmission shaft 45 to rotate;
two transmission shafts 45 are respectively matched with the corresponding support arm shafts 30, and the two transmission shafts 45 are fixed through a connecting shaft 47 to realize synchronous rotation.
As shown in fig. 6, in the present embodiment, the track arm 27 further includes a weight 48 fixed to the arm plate 29, and the weight 48 has a track support plate 49 at upper and lower ends thereof for engaging with the second track 34.
As shown in fig. 10, the turning disc 13 is provided with a schematic view of the mobile platform 1 after the robot is mounted thereon.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields and are included in the scope of the present invention.
Claims (10)
1. A mobile platform for a robot, comprising:
a movable body;
a connecting arm, the lower end of which is rotatably mounted on the movable body;
the first pitching driving mechanism is used for driving the connecting arm to rotate;
the upper bracket device is rotatably arranged at the upper end of the connecting arm and comprises an installation mechanism for installing the robot; and
and the second pitching driving mechanism is used for driving the upper bracket device to rotate relative to the connecting arm.
2. The mobile platform for a robot of claim 1, wherein the first pitch drive mechanism is disposed on the movable body, the first pitch drive mechanism comprising:
the rotating connecting assembly is rotatably arranged on the movable body and is fixed with the connecting arm; and
the pitching driving motor is used for driving the corresponding rotating connecting component to rotate;
the second pitch drive mechanism is provided on the upper bracket device, and the second pitch drive mechanism includes:
the rotating connecting assembly is rotatably arranged on the connecting arm and is fixed with the upper bracket device; and
and the pitching driving motor is used for driving the corresponding rotating connecting component to rotate.
3. The mobile platform for a robot of claim 2, wherein there are two sets of said first pitch drive mechanisms, one on each side of the link arm; two groups of second pitching driving mechanisms are respectively positioned at two sides of the connecting arm; the rotating connection assembly comprises a first double-curve bevel gear, and a second double-curve bevel gear meshed with the first double-curve bevel gear is mounted on an output shaft of the pitching driving motor.
4. The mobile platform for a robot of claim 1, wherein the upper bracket device comprises a bracket, the mounting mechanism comprising:
the rotating disc is rotatably arranged on the bracket and is used for installing the robot;
the first gear is coaxially fixed on the rotating disc; and
and the output shaft of the rotation adjusting motor is provided with a second gear meshed with the first gear.
5. The mobile platform for a robot of claim 1, wherein the movable body comprises a frame and two sets of main track powered mechanisms mounted on the frame; the main track power mechanism comprises:
the first driving wheel is rotatably arranged on the rack;
the first driven wheel is rotatably arranged on the rack;
the first crawler belt is wound on the first driving wheel and the first driven wheel; and
and the crawler driving motor is matched with the first driving wheel through a transmission assembly and is used for driving the first driving wheel to rotate.
6. The mobile platform for a robot of claim 5, wherein the movable body further comprises a battery, a battery holder, and a support roller, the battery holder is fixed to the frame, the battery is mounted on the battery holder and located within the first track, and the support roller is mounted on the battery holder below for rolling engagement with the first track.
7. The mobile platform for a robot of claim 5 further comprising two track arms and a third pitch drive mechanism that drives the track arms to pitch;
the track arm includes:
the arm supporting plate is positioned on the outer side of the first driving wheel;
one end of the supporting arm shaft is fixed with the supporting arm plate, and the other end of the supporting arm shaft penetrates through the corresponding first driving wheel and then is matched with the third pitching driving mechanism;
the mounting shaft is fixed with the support arm plate;
the second driving wheel is rotatably arranged on the support arm shaft and positioned outside the first driving wheel, and the second driving wheel and the first driving wheel are relatively fixed in the circumferential direction and can synchronously rotate along with the first driving wheel;
the second driven wheel is rotatably arranged on the mounting shaft; and
and the second crawler belt is wound on the second driving wheel and the second driven wheel.
8. The mobile platform for a robot of claim 7, wherein the track arm further comprises a locking screw; the support arm plate is provided with a limiting groove, the outer end of the support arm shaft is embedded into the limiting block of the limiting groove, the outer end of the support arm shaft is provided with a threaded hole, and the support arm shaft is fixed with the support arm plate through a locking screw matched with the threaded hole.
9. The mobile platform for a robot of claim 7, wherein a hollow first tooth is fixed on the first drive wheel, and the track drive motor is engaged with the first tooth through a transmission assembly;
a first cylindrical spline is further fixed in the middle of the first driving wheel, a second cylindrical spline is fixed in the middle of the second driving wheel, and the first cylindrical spline and the second cylindrical spline respectively comprise a cylindrical body and a first connecting key positioned on the outer side wall of the cylindrical body;
the crawler support arm further comprises a spline sleeve, the spline sleeve is sleeved on the first cylindrical spline and the second cylindrical spline, a second connecting key matched with the first connecting key is arranged on the inner side wall of the spline sleeve, and the first driving wheel and the second driving wheel synchronously rotate through the first cylindrical spline, the second cylindrical spline and the spline sleeve;
and the inner end of the supporting arm shaft penetrates through the first cylindrical spline and the second cylindrical spline and then is matched with the third pitching driving mechanism.
10. The mobile platform for a robot of claim 9, wherein the third pitch drive mechanism comprises:
the transmission shaft is rotatably arranged on the rack and is connected with the supporting arm shaft, and the transmission shaft drives the supporting arm shaft to synchronously rotate when rotating; and
the support arm driving motor is used for driving the transmission shaft to rotate;
the transmission shafts are two and are respectively matched with the corresponding support arm shafts, and the two transmission shafts are fixed through the connecting shaft to realize synchronous rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220517802.XU CN216883953U (en) | 2022-03-08 | 2022-03-08 | Mobile platform for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220517802.XU CN216883953U (en) | 2022-03-08 | 2022-03-08 | Mobile platform for robot |
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| Publication Number | Publication Date |
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| CN216883953U true CN216883953U (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220517802.XU Active CN216883953U (en) | 2022-03-08 | 2022-03-08 | Mobile platform for robot |
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| CN (1) | CN216883953U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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2022
- 2022-03-08 CN CN202220517802.XU patent/CN216883953U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559444A (en) * | 2022-03-08 | 2022-05-31 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
| CN114559444B (en) * | 2022-03-08 | 2024-03-12 | 长源动力（北京）科技有限公司 | Ambulatory medical device |
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