CN205523385U - Initiative omniwheel and mobile device - Google Patents
Initiative omniwheel and mobile device Download PDFInfo
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- CN205523385U CN205523385U CN201620352185.7U CN201620352185U CN205523385U CN 205523385 U CN205523385 U CN 205523385U CN 201620352185 U CN201620352185 U CN 201620352185U CN 205523385 U CN205523385 U CN 205523385U
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- 238000006243 chemical reaction Methods 0.000 abstract description 30
- 230000003111 delayed effect Effects 0.000 description 15
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- 239000012535 impurity Substances 0.000 description 4
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- 230000033001 locomotion Effects 0.000 description 3
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Abstract
The utility model provides an initiative omniwheel and mobile device, wherein, this initiative omniwheel includes the wheel carrier and sets up the sun gear on the wheel carrier, still is equipped with two at least independent transmission wheelsets on the wheel carrier, and every independent transmission wheelset all meshes with sun gear with gear drive's mode, this mobile device includes and is provided with at least one as above on this chassis in the chassis initiative omniwheel. The utility model discloses having divided into two at least independent transmission parts with whole initiative omniwheel, each other not influenced between the independent transmission wheelset of difference, every independent transmission wheelset is the autonomous working under sun gear's transmission, adopts an action wheel to carry out the transmission conversion to all from the driving wheel with traditional initiative omniwheel and compares, and such design makes the transmission hysteresis obviously reduce on the one hand, and on the other hand still helps improving the reliability and the stability of transmission conversion, the transmission of mobile device lags behind and obviously reduces, and the reliability of transmission conversion is high with stability.
Description
Technical field
This utility model relates to omni-directional wheel technical field, particularly to one actively omni-directional wheel and mobile device.
Background technology
Omni-directional wheel is widely used in the structure of the mobile devices such as robot, handbarrow, transfer conveyer, freight, luggage, it is mainly made up of wheel hub and the driven pulley that is installed on wheel hub, wheel hub is driven by drive mechanism, driven pulley can be freely rotatable, owing to the axial direction of wheel hub and the axial direction of driven pulley are vertical, so that omni-directional wheel possesses the ability of Omni-mobile.
Existing omni-directional wheel can either pass through wheel hub motor (bull wheel) and carry out the axial rotation around motor shaft, can realize omni-directional wheel by the rotation of driven pulley (steamboat) again and be perpendicular to wheel hub direction and realize transverse movement；But omni-directional wheel is to realize overall active rotation by motor shaft around the rotation of motor shaft, the rotation of driven pulley is but passively to realize rotating with ground contact friction force by omni-directional wheel, it is impossible to realize active rotation.The most existing omni-directional wheel is when applying on such as mobile devices such as robots, when this mobile device is carried out vertical or horizontal pose adjustment, it is by arranging several in mobile device and be mutually perpendicular to or angled omni-directional wheel, realize with differential control, operate cumbersome, control more complicated；If several omni-directional wheels become equidirectional to install on the mobile device, then needing to adjust wherein certain several omni-directional wheel steering angle and could realize adjusting, the method for adjustment turned to such as existing automobile tire, regulation is the most inconvenient.
In order to solve above-mentioned technical problem, actively omni-directional wheel arises at the historic moment.At present, actively omni-directional wheel can drive all of driven pulley to rotate by driving drivewheel to rotate simultaneously, for the driven pulley of existing omni-directional wheel can only realize passively rotating when traversing, actively the driven pulley of omni-directional wheel can all realize active rotation by drivewheel；But, existing active omni-directional wheel is typically all and uses a drivewheel that all driven pulleys are carried out transmission, conversion, not only there will be the situation that transmission is delayed, and the reliability and stability of this transmission, conversion all extreme differences, have a strong impact on the use of actively omni-directional wheel.
Utility model content
Utility model purpose of the present utility model is: for present in prior art, because existing active omni-directional wheel is typically all, the transmission using a drivewheel that all driven pulleys are carried out transmission, conversion and to bring is delayed, the problem of the reliability and stability difference of transmission, conversion, a kind of actively omni-directional wheel is provided, this active omni-directional wheel enables to that transmission is delayed to be obviously reduced, and is favorably improved the reliability and stability of transmission, conversion；It addition, this utility model additionally provides the mobile device of this active omni-directional wheel of a kind of application.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of actively omni-directional wheel, including wheel carrier and the central gear that is arranged on wheel carrier, wheel carrier is additionally provided with at least two separate transmission wheels, and each separate transmission wheels all engages with central gear in gear-driven mode.
In active omni-directional wheel described in the utility model, wheel carrier is provided with at least two separate transmission wheels, and each separate transmission wheels all engage with central gear in gear-driven mode, whole active omni-directional wheel be divide at least two separate transmission part by technical scheme the most described in the utility model, it is independent of each other between the most different separate transmission wheels, each separate transmission wheels work alone under the transmission of central gear, that is, each separate transmission wheels all have the driving force of oneself, use compared with a drivewheel carries out transmission, conversion to all driven pulleys with traditional active omni-directional wheel, on the one hand such design makes that transmission is delayed to be obviously reduced, on the other hand, also contribute to the reliability and stability of transmission, conversion.
As preferred version of the present utility model, above-mentioned separate transmission wheels include driving assembly, driving wheel mechanism and passive wheels；These driving assembly two ends are all engaged with above-mentioned central gear and driving wheel mechanism respectively in gear-driven mode, and this driving wheel mechanism is in transmission connection with passive wheels by universal joint.
In above-mentioned each separate transmission wheels, assembly two ends are driven all to engage with above-mentioned central gear and driving wheel mechanism respectively in gear-driven mode, it can thus be appreciated that, in active omni-directional wheel described in the utility model, when above-mentioned central gear at motor when being rotated by, central gear can drive driving wheel mechanism to rotate by driving assembly, because this driving wheel mechanism is in transmission connection with passive wheels by universal joint, the rotation of driving wheel mechanism can drive passive wheels to rotate by universal joint again, so that passive wheels all realize active rotation, therefore, each separate transmission wheels are possible not only to realize axial active rotation motion, but also it is capable of the most actively sliding.
In the case of ensureing that each separate transmission wheels can realize axial active rotation motion and horizontal actively sliding, as the described active omni-directional wheel including at least two separate transmission wheels, its transmission does not haves delayed situation, and the reliability and stability of this transmission, conversion are all greatly improved.
Preferred further, above-mentioned driving assembly includes the first gear, gearing shaft and the second gear that transmission successively is connected, and this first gear engages with central gear, and the second gear and driving wheel mechanism transmission.
In the driving assembly of said structure, first gear rotates under the transmission of central gear, first pinion rotation drives the second pinion rotation further through gearing shaft, because the second gear and driving wheel mechanism transmission, such that driving wheel mechanism rotates under the drive of the second gear, the most just complete the transmission of driving force；In this driving assembly, use gear-driven mode to be driven the transmission of power, contribute to promoting the accuracy driving assembly transmission, be additionally favorable for driving the raising of assembly transmission efficiency, and reliable operation.
Preferred further, above-mentioned driving wheel mechanism includes actively transmission component and drive wheel assemblies；One end of this drive wheel assemblies is connected with above-mentioned driving assembly by actively transmission component, and its other end is by above-mentioned universal joint and passive wheels transmission.
In driving wheel mechanism, drive wheel assemblies is worked (rotation) under the drive of above-mentioned driving assembly by actively transmission component, thus transmits drive force to passive wheels by universal joint so that passive wheels realize active rotation.
Further preferred, above-mentioned active transmission component includes the 3rd gear, the 4th gear and the 5th gear engaged successively；3rd gear is connected with driving assembly in the way of gear engagement, and the 5th gear is in transmission connection with drive wheel assemblies.
In this actively transmission component, 3rd gear, the 4th gear and the 5th gear engage successively, and the 3rd gear is connected with driving assembly in the way of gear engagement, such design makes the 3rd gear, the 4th gear and the 5th gear rotate under the drive driving assembly, again because the 5th gear is in transmission connection with drive wheel assemblies, thus drive wheel assemblies is driven to rotate；Same as above, in this actively transmission component, use gear-driven mode to be driven the transmission of power, transmission accuracy is high, and transmission efficiency is high, reliable operation.
Further preferred, above-mentioned drive wheel assemblies includes coaxial the first drivewheel being connected and the second drivewheel.This first drivewheel and the second drivewheel are coaxially connected, when five pinion rotation, first drivewheel and the second drivewheel can rotate simultaneously, i.e. the 5th gear simultaneously drives two drivewheels, on the one hand, can make that transmission is delayed to be obviously reduced, on the other hand, it helps improve the reliability and stability of transmission, conversion.
Preferred further, above-mentioned passive wheels include the multiple follower mechanisms being sequentially connected.
Further preferred, above-mentioned follower mechanism includes passive transmission component and follower assembly；This follower assembly passes sequentially through passive transmission component and universal joint and is connected with above-mentioned driving wheel mechanism.
Can transmit drive force to passive transmission component by universal joint when above-mentioned driving wheel mechanism rotates, this follower assembly can rotate under the drive of passive transmission component, thus realizes the active rotation of passive wheels.
Further preferred, above-mentioned passive transmission component includes intermeshing 6th gear and the 7th gear, and the 6th gear is by above-mentioned universal joint and above-mentioned driving wheel mechanism transmission.
When above-mentioned driving wheel mechanism rotates, 6th gear also can be rotated by universal joint, again because the 6th gear and the 7th gear engage each other, thus drive the 7th gear to rotate, this passive transmission component i.e. is also the conversion being achieved transmission by gear-driven mode, transmission accuracy degree is high, and transmission efficiency is high, and the reliability and stability of transmission, conversion are also largely increased.
Further preferred, above-mentioned follower assembly includes the first follower and the second follower being coaxially disposed.Under the drive of passive transmission component, the first follower and the second follower can rotate simultaneously, on the one hand, can make that transmission is delayed to be obviously reduced, on the other hand, it helps improve the reliability and stability of transmission, conversion.
Further preferably, face, above-mentioned wheel carrier rear and front end is equipped with end plate, and above-mentioned universal joint is positioned at inside end plate.Arranging of end plate all serves protective effect to central gear and separate transmission wheels, also can effectively reduce external impurities enter into inside wheel carrier, central gear and the probability within separate transmission wheels；It addition, above-mentioned universal joint is positioned at inside end plate, the inside of described active omni-directional wheel will be arranged on by universal joint, can effectively prevent external impurities from entering in universal joint, universal joint is served protective effect.
This utility model additionally provides a kind of mobile device, and this mobile device includes chassis, and this chassis is provided with at least one actively omni-directional wheel as above.
Mobile device described in the utility model, is provided with at least one above-mentioned active omni-directional wheel on chassis, and for existing mobile device, the transmission of mobile device described in the utility model is delayed to be obviously reduced, and the reliability and stability of transmission, conversion are high.
It addition, in technical scheme described in the utility model, all it is not specifically noted, all can realize the technical program by using the routine techniques means in this area.
In sum, owing to have employed technique scheme, the beneficial effects of the utility model are:
1, whole active omni-directional wheel be divide at least two separate transmission part by technical scheme described in the utility model, it is independent of each other between different separate transmission wheels, each separate transmission wheels work alone under the transmission of central gear, use compared with a drivewheel carries out transmission, conversion to all driven pulleys with traditional active omni-directional wheel, on the one hand such design makes that transmission is delayed to be obviously reduced, on the other hand, the reliability and stability of transmission, conversion are also contributed to；
2, in active omni-directional wheel described in the utility model, assembly, actively transmission component and driving wheel mechanism is driven all to use gear-driven mode to achieve transmission, conversion, transmission accuracy degree is high, and transmission efficiency is high, and the reliability and stability of transmission, conversion are also largely increased；
3, in active omni-directional wheel described in the utility model, the first drivewheel and the second drivewheel in above-mentioned drive wheel assemblies are coaxially connected, the first follower and the second follower in above-mentioned passive transmission component are also coaxially disposed, on the one hand these design, enable to that transmission is delayed to be obviously reduced, on the other hand, it helps improve the reliability and stability of transmission, conversion；
4, in active omni-directional wheel described in the utility model; face, above-mentioned wheel carrier rear and front end is equipped with end plate; arranging of end plate all serves protective effect to central gear and separate transmission wheels, also can effectively reduce external impurities enter into inside wheel carrier, central gear and the probability within separate transmission wheels；It addition, above-mentioned universal joint is positioned at inside end plate, can effectively prevent external impurities from entering in universal joint, universal joint is served protective effect；
5, mobile device described in the utility model, is provided with at least one above-mentioned active omni-directional wheel on chassis, and for existing mobile device, the transmission of mobile device described in the utility model is delayed to be obviously reduced, and the reliability and stability of transmission, conversion are high.
Accompanying drawing explanation
Fig. 1 is the structural representation of actively omni-directional wheel (eliminating end plate) in this utility model embodiment one；
Fig. 2 is the partial enlarged drawing in Fig. 1 at A；
Fig. 3 is the partial enlarged drawing in Fig. 1 at B；
Fig. 4 is the partial enlarged drawing in Fig. 1 at C；
Fig. 5 is the axonometric chart of actively omni-directional wheel (eliminating end plate) in this utility model embodiment one；
Fig. 6 is the axonometric chart of actively omni-directional wheel (comprising end plate) in this utility model embodiment one；
Fig. 7 is the structural representation of actively omni-directional wheel in this utility model embodiment two；
Fig. 8 is the structural representation of actively omni-directional wheel in this utility model embodiment three；
Fig. 9 is the structural representation of mobile device in this utility model embodiment four；
Labelling in figure: 1-wheel carrier, 2-central gear, 3-universal joint, 4-the first gear, 5-gearing shaft, 6-the second gear, 7-the 3rd gear, 8-the 4th gear, 9-the 5th gear, 10-the first drivewheel, 11-the second drivewheel, 12-the 6th gear, 13-the 7th gear, 14-the first follower, 15-the second follower, 16-end plate, 17-fixed cover, the little wheel support of 18-, 19-chassis.
Detailed description of the invention
Below in conjunction with the accompanying drawings, this utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Embodiment
1
A kind of actively omni-directional wheel, as shown in Fig. 1, Fig. 5 and Fig. 6, including wheel carrier 1, wheel carrier 1 is provided with central gear 2, and on wheel carrier 1, it is additionally provided with at least two separate transmission wheels, specially four, and each separate transmission wheels all engage with this central gear 2 in gear-driven mode；These separate transmission wheels include driving assembly, driving wheel mechanism and passive wheels；Wherein, these driving assembly two ends are all engaged with above-mentioned central gear 2 and driving wheel mechanism respectively in gear-driven mode, and this driving wheel mechanism is in transmission connection with passive wheels by universal joint 3；This face, wheel carrier 1 rear and front end is equipped with end plate 16, and this universal joint 3 is positioned at inside end plate 16.
Above-mentioned driving wheel mechanism includes actively transmission component and drive wheel assemblies；One end of this drive wheel assemblies is connected with driving assembly by actively transmission component, and its other end is by above-mentioned universal joint 3 and passive wheels transmission.Above-mentioned passive wheels include the multiple follower mechanisms being sequentially connected, and each follower mechanism includes passive transmission component and follower assembly；This follower assembly passes sequentially through passive transmission component and universal joint 3 is connected with above-mentioned driving wheel mechanism, and specifically, this follower assembly passes sequentially through passive transmission component and is connected with active transmission component transmission with universal joint 3.
As in figure 2 it is shown, above-mentioned driving assembly includes the first gear 4, gearing shaft 5 and the second gear 6 that transmission successively is connected.As shown in Figure 3, above-mentioned active transmission component includes the 3rd gear the 7, the 4th gear 8 and the 5th gear 9 engaged successively, and the 4th be arranged with fixed cover 17 on gear 8, this fixed cover 17 1 aspect plays the effect fixing the 4th gear 8, on the other hand, can avoid wearing and tearing between the 4th gear 8 and other structure member；Above-mentioned drive wheel assemblies includes coaxial the first drivewheel 10 and the second drivewheel 11 being connected.As shown in Figure 4, above-mentioned passive transmission component includes intermeshing 6th gear 12 and the 7th gear 13, and the 6th be also arranged with fixed cover 17 on gear 12, this fixed cover 17 1 aspect plays the effect fixing the 6th gear 12, on the other hand, can avoid wearing and tearing between the 6th gear 12 and other structure member；Above-mentioned follower assembly includes the first follower 14 and the second follower 15 being coaxially disposed, and the first follower the 14, the 7th gear 13 and the second follower 15 are sequentially coaxially in transmission connection.Wherein, the first gear 4 engages with central gear 2, and the second gear 6 and driving wheel mechanism transmission, specifically, this second gear 6 engages with the 3rd gear 7；5th gear 9 is in transmission connection with drive wheel assemblies, and the specially first drivewheel the 10, the 5th gear 9 is coaxially connected with the second drivewheel 11；6th gear 12 is by universal joint 3 and above-mentioned driving wheel mechanism transmission, and the specially the 6th gear 12 is by universal joint 3 and the 4th gear 8 transmission.
When central gear 2 at motor when being rotated by, first gear 4 also can concomitant rotation, and first gear 4 the second gear 6 can be driven to rotate by gearing shaft 5, because the 3rd gear 7 engages with the second gear 6,3rd gear 7 also begins to rotate and drive the 5th gear 9 to rotate by the 4th gear 8, and now, the first drivewheel 10 and the second drivewheel 11 can rotate along with the rotation of the 5th gear 9, meanwhile, the 4th gear 8 can drive the 6th gear 12 to rotate by universal joint 3；On the one hand, 6th gear 12 can transmit drive force to adjacent follower assembly by universal joint 3, and on the other hand, the 6th gear 12 drives the first follower 14 and the second follower 15 to rotate by the 7th gear 13 simultaneously, so, the autonomous of actively omni-directional wheel is just achieved.
Additionally, the most as shown in Figure 1, between drive wheel assemblies with follower assembly, between adjacent two follower assemblies, it is equipped with little wheel support 18, little wheel support 18 plays isolation drive wheel assemblies and follower assembly and the effect of adjacent two drive wheel assemblies, it is to avoid wear and tear between drive wheel assemblies with follower assembly and between adjacent two drive wheel assemblies.
In the present embodiment, above-mentioned first gear the 4, second gear 6 and the 3rd gear 7 are bevel gear；Above-mentioned first drivewheel the 10, second drivewheel the 11, first follower 14 and the second follower 15 can be all roller.
Whole active omni-directional wheel be divide into four separate transmission parts by the present embodiment, there are four groups of drive wheel assemblies, is independent of each other between four separate transmission wheels, is also independent of each other between four groups of drive wheel assemblies；Each separate transmission wheels work alone under the transmission of central gear 2, that is, each separate transmission wheels have the driving force of oneself, follower assembly in each separate transmission wheels carries out active rotation under the effect of one group of drive wheel assemblies, use compared with a drivewheel carries out transmission, conversion to all driven pulleys with traditional active omni-directional wheel, on the one hand such design makes that transmission is delayed to be obviously reduced, and on the other hand, also contributes to the reliability and stability of transmission, conversion.
Embodiment
2
A kind of actively omni-directional wheel, as it is shown in fig. 7, comprises wheel carrier 1, this wheel carrier 1 is provided with central gear 2, and on this wheel carrier 1, it is additionally provided with at least two separate transmission wheels, specially three, and each separate transmission wheels all engage with this central gear 2 in gear-driven mode.
The structure of the separate transmission wheels in the present embodiment is identical with the structure of separate transmission wheels in embodiment one.
Whole active omni-directional wheel be divide into three separate transmission parts by the present embodiment, there are three groups of drive wheel assemblies, is independent of each other between three separate transmission wheels, is also independent of each other between three groups of drive wheel assemblies；Each separate transmission wheels work alone under the transmission of central gear 2, that is, each separate transmission wheels have the driving force of oneself, follower assembly in each separate transmission wheels carries out active rotation under the effect of one group of drive wheel assemblies, the most whole active omni-directional wheel uses three groups of drive wheel assemblies respectively three groups of follower assemblies to be carried out transmission, conversion, use compared with a drivewheel carries out transmission, conversion to all driven pulleys with traditional active omni-directional wheel, on the one hand such design makes that transmission is delayed to be obviously reduced, on the other hand, also contribute to the reliability and stability of transmission, conversion.
Embodiment
3
A kind of actively omni-directional wheel, as shown in Figure 8, including wheel carrier 1, this wheel carrier 1 is provided with central gear 2, and on this wheel carrier 1, it is additionally provided with at least two separate transmission wheels, specially two, and each separate transmission wheels all engage with this central gear 2 in gear-driven mode.
The structure of the separate transmission wheels in the present embodiment is identical with the structure of separate transmission wheels in embodiment one.
Whole active omni-directional wheel be divide into two separate transmission parts by the present embodiment, there are two groups of drive wheel assemblies, is independent of each other between two separate transmission wheels, is also independent of each other between two groups of drive wheel assemblies；Each separate transmission wheels work alone under the transmission of central gear 2, that is, each separate transmission wheels have the driving force of oneself, often group follower assembly all active rotation under the effect of one group of drive wheel assemblies, use compared with a drivewheel carries out transmission, conversion to all driven pulleys with traditional active omni-directional wheel, on the one hand such design makes that transmission is delayed to be obviously reduced, and on the other hand, also contributes to the reliability and stability of transmission, conversion.
Embodiment
4
A kind of mobile device, as it is shown in figure 9, include chassis 19, this chassis 19 is provided with the active omni-directional wheel at least one embodiment 1, embodiment 2 or embodiment 3.
The mobile device that the present embodiment provides is because include the active omni-directional wheel in embodiment 1, embodiment 2 or embodiment 3, and such design makes that the transmission of this mobile device is delayed to be obviously reduced, and the reliability and stability of transmission, conversion are high.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (10)
1. an active omni-directional wheel, including wheel carrier (1) and the central gear (2) that is arranged on described wheel carrier (1), it is characterized in that, it is additionally provided with at least two separate transmission wheels on described wheel carrier (1), and each described separate transmission wheels all engage with described central gear (2) in gear-driven mode.
Active omni-directional wheel the most according to claim 1, it is characterised in that described separate transmission wheels include driving assembly, driving wheel mechanism and passive wheels；Described driving assembly two ends are all engaged with described central gear (2) and driving wheel mechanism respectively in gear-driven mode, and described driving wheel mechanism is in transmission connection with described passive wheels by universal joint (3).
Active omni-directional wheel the most according to claim 2, it is characterized in that, described driving assembly includes the first gear (4), gearing shaft (5) and the second gear (6) that transmission successively is connected, and described first gear (4) engages with central gear (2), and described second gear (6) and driving wheel mechanism transmission.
Active omni-directional wheel the most according to claim 2, it is characterised in that described driving wheel mechanism includes actively transmission component and drive wheel assemblies；One end of described drive wheel assemblies is connected with described driving assembly by actively transmission component, and its other end is by described universal joint (3) and passive wheels transmission.
Active omni-directional wheel the most according to claim 4, it is characterised in that described active transmission component includes the 3rd gear (7), the 4th gear (8) and the 5th gear (9) engaged successively；Described 3rd gear (7) is connected with driving assembly in the way of gear engagement, and described 5th gear (9) is in transmission connection with drive wheel assemblies.
Active omni-directional wheel the most according to claim 4, it is characterised in that described drive wheel assemblies includes coaxial the first drivewheel (10) being connected and the second drivewheel (11).
Active omni-directional wheel the most according to claim 2, it is characterised in that described passive wheels include the multiple follower mechanisms being sequentially connected.
Active omni-directional wheel the most according to claim 7, it is characterised in that described follower mechanism includes passive transmission component and follower assembly；Described follower assembly passes sequentially through passive transmission component and universal joint (3) is connected with described driving wheel mechanism.
Active omni-directional wheel the most according to claim 8, it is characterized in that, described passive transmission component includes intermeshing 6th gear (12) and the 7th gear (13), and described 6th gear (12) is by described universal joint (3) and described driving wheel mechanism transmission.
10. a mobile device, including chassis (19), it is characterised in that be provided with at least one active omni-directional wheel as described in any one in the claims 1 ~ 9 on described chassis (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620352185.7U CN205523385U (en) | 2016-04-25 | 2016-04-25 | Initiative omniwheel and mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620352185.7U CN205523385U (en) | 2016-04-25 | 2016-04-25 | Initiative omniwheel and mobile device |
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| CN205523385U true CN205523385U (en) | 2016-08-31 |
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| CN201620352185.7U Active CN205523385U (en) | 2016-04-25 | 2016-04-25 | Initiative omniwheel and mobile device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671076A (en) * | 2016-12-21 | 2017-05-17 | 北京灵铱科技有限公司 | Self-driven type universal power module |
| GB2574594A (en) * | 2018-06-07 | 2019-12-18 | Conquering Horizons Ltd | Omniwheel |
-
2016
- 2016-04-25 CN CN201620352185.7U patent/CN205523385U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671076A (en) * | 2016-12-21 | 2017-05-17 | 北京灵铱科技有限公司 | Self-driven type universal power module |
| GB2574594A (en) * | 2018-06-07 | 2019-12-18 | Conquering Horizons Ltd | Omniwheel |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20180112 Address after: 611731 Electronic Science and Technology University, 2006 West Avenue, hi tech West District, Sichuan, Chengdu Patentee after: Huang Shan Address before: 611731 Sichuan city of Chengdu province high tech Zone (West) cooperation Road No. 89 Longhu street in the era of a A zone 18 Building No. 703 Patentee before: CHENGDU KEDIAN CHAMPION ROBOT TECHNOLOGY CO., LTD. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20180322 Address after: 611731 Sichuan Province, Chengdu high tech Zone cooperation Road No. 89 Longhu times Street 19 Building 18 floor No. 1809 Patentee after: Chengdu Vietnam Creative Technology Limited Address before: 611731 Electronic Science and Technology University, 2006 West Avenue, hi tech West District, Sichuan, Chengdu Patentee before: Huang Shan |