CN108032921B - Wheel device capable of crossing obstacle and vehicle type robot with wheel device - Google Patents
Wheel device capable of crossing obstacle and vehicle type robot with wheel device Download PDFInfo
- Publication number
- CN108032921B CN108032921B CN201810074448.6A CN201810074448A CN108032921B CN 108032921 B CN108032921 B CN 108032921B CN 201810074448 A CN201810074448 A CN 201810074448A CN 108032921 B CN108032921 B CN 108032921B
- Authority
- CN
- China
- Prior art keywords
- wheel
- shaft
- shifting fork
- steering engine
- wheel device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Gear-Shifting Mechanisms (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention discloses a wheel device capable of crossing an obstacle, which comprises a steering engine supporting seat, a steering engine, a turntable, a pair of joint bearings, two wheels and two groups of wheel driving devices, wherein the two wheels and the two groups of wheel driving devices are symmetrically arranged, and each group of wheel driving devices respectively comprises: the device comprises a motor, a connecting flange, a meshing type clutch driving part, a meshing type clutch driven part, a triangle fork, a rolling bearing, a bearing sleeve, a U-shaped shifting fork, a supporting frame, a first shifting fork shaft, a supporting frame support, a universal joint and a second shifting fork shaft. The invention also discloses a vehicle type robot provided with the wheel device. The vehicle-type robot can realize automatic sensing and crossing of the front obstacle, reduce the influence of road conditions on the running of the vehicle-type robot, and can run in various complex road condition environments. The wheel device and the vehicle type robot are simple in structure and reliable in operation.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a wheel device capable of crossing an obstacle and a vehicle-type robot with the wheel device.
Background
When the common wheels only can cross the low obstacles, and the short platforms, the higher bulges and other obstacles exist, the wheels are blocked and can be stopped before the common wheels are stopped, so that the normal running cannot be realized. In this case, the vehicle wheel must be lifted or pulled by external force to pass through, which is time-consuming and laborious.
Disclosure of Invention
To solve the problems of the prior art, it is an object of the present invention to provide a wheel device capable of overcoming obstacles such as short stands.
Another object of the present invention is to provide a vehicle type robot having the above wheel device.
For this purpose, the technical scheme of the invention is as follows:
the utility model provides a wheel device that can cross barrier, includes steering wheel supporting seat, steering wheel, carousel, a pair of knuckle bearing and two wheels and two sets of wheel drive arrangement that the symmetry set up, and every wheel drive arrangement of group includes respectively: the device comprises a motor, a connecting flange, a meshing clutch driving piece, a meshing clutch driven piece, a triangle fork, a rolling bearing, a bearing sleeve, a U-shaped shifting fork, a support frame, a first shifting fork shaft, a support frame support, a universal joint and a second shifting fork shaft, wherein the motor is arranged on the inner side of a wheel and used for driving the wheel to rotate; the connecting flange is arranged on the outer side of the wheel and fixedly connected with the wheel through a plurality of screws, and a flange protruding shaft is arranged on the outer side of the connecting flange; the driving part of the meshing clutch is sleeved on the flange convex shaft of the connecting flange and is fixedly connected with the connecting flange through a screw, and the driven part of the meshing clutch is arranged on the outer side of the driving part of the meshing clutch and is sleeved on the flange convex shaft and can slide along the axial direction; the outer side of the meshing clutch driven piece is sequentially and coaxially provided with a first protruding shaft and a second protruding shaft, and the outer diameter of the second protruding shaft is smaller than that of the first protruding shaft; the triangular fork is sleeved on the first protruding shaft and is fixedly connected with the engaged clutch driven piece through a plurality of screws; the rolling bearing is fixedly arranged on the second convex shaft, the bearing sleeve is sleeved on the outer ring of the bearing, and a threaded hole is formed in the bearing sleeve; the U-shaped shifting fork is provided with a long groove, is connected with the bearing sleeve through a bolt and can relatively move and rotate; the U-shaped shifting fork is fixedly connected with one end of a first shifting fork shaft, the other end of the first shifting fork shaft is fixedly connected with the universal joint, and the other end of the universal joint is fixedly connected with the second shifting fork shaft; one end of the support frame is fixed on the support frame support, a U-shaped open slot and a threaded hole perpendicular to the U-shaped open slot are formed in the other end of the support frame, and a through hole is formed in the middle of the first shifting fork shaft; the middle part of the first shifting fork shaft passes through the U-shaped open slot and is hinged with the supporting seat through a screw to form a revolute pair; the pair of knuckle bearings 4 are oppositely arranged on the rotary table, and the rotary table is arranged on the steering engine; the steering engine is used for controlling the swing of the shifting fork.
The wheel device also comprises a sensor for sensing the obstacle in front and a control system for controlling the steering engine to act according to the sensing result of the sensor.
Preferably, the output shaft of the motor has a hexagonal cross section, a hexagonal concentric blind hole is formed on the inner side of the wheel, and the output shaft is inserted into the hexagonal concentric blind hole and fixedly arranged by a screw.
Preferably, the long groove on the shifting fork is a double-round-head groove.
The vehicle-type robot with the wheel device comprises a bottom plate, a pair of first auxiliary wheels and a pair of second auxiliary wheels, wherein the first auxiliary wheels and the second auxiliary wheels are symmetrically arranged on the left side and the right side of the bottom plate, and a steering engine supporting seat, a motor and a supporting frame supporting seat of the wheel device are fixedly arranged on the bottom plate.
Preferably, the first auxiliary wheel, the second auxiliary wheel and the wheels have the same diameter.
The invention has the following beneficial effects:
the wheel device can assist the carrying device to pass over obstacles such as short platforms, bulges and the like under the control of the steering engine. The vehicle-type robot provided with the wheel device can realize automatic sensing and passing over the front obstacle under the control of a proper sensor and a control system, reduces the influence of road conditions on the operation of the vehicle-type robot, and can run in various complex road condition environments. The wheel device and the vehicle type robot have simple structure and reliable operation, and can ensure the engagement and disengagement of the engaged clutch by adopting the sensor with good signal acquisition.
Drawings
FIG. 1 is a schematic exploded view of one embodiment of a wheel assembly of the present invention;
fig. 2 is a schematic structural view of a vehicle type robot mounted with the wheel device of the present invention.
In the figure:
1. steering engine supporting seat 2, steering engine 3, turntable 4, joint bearing 5, motor 6, wheel 7 and screw
8. Connection flange 8-1, connection flange male shaft 9, engagement clutch driving member 10, engagement clutch driven member
10-1, a first protruding shaft 10-2, a second protruding shaft 11, a triangular fork 12, a rolling bearing 13, a bearing sleeve 13-1 and a threaded hole
U-shaped shifting fork 14-1, double round head through groove 15, supporting frame 15-1:U type opening 16, first shifting fork shaft 16-1: through hole 17, support frame support 18, universal joint 19, second shifting fork shaft 20 and bottom plate
21. Screw 22. First auxiliary wheel 23. Second auxiliary wheel.
Detailed Description
The structure of the wheel device and the vehicle type robot having the wheel device according to the present invention will be described in detail with reference to the accompanying drawings.
The invention discloses a novel wheel device which is arranged on a vehicle type robot and can help the vehicle type robot to climb over a platform and surmount obstacles, aiming at solving the problem that the existing vehicle type robot cannot effectively surmount obstacles such as short platforms, bulges and the like.
See one embodiment of the invention shown in fig. 1. A wheel device capable of crossing obstacles comprises a steering engine supporting seat 1, a steering engine 2, a rotating disc 3, a pair of knuckle bearings 4, two wheels 6 and two groups of wheel driving devices, wherein the two wheels 6 and the two groups of wheel driving devices are symmetrically arranged. The two sets of wheel drive devices are symmetrically arranged, and each set of wheel drive device respectively comprises: the clutch comprises a motor 5, a connecting flange 8, a meshing clutch driving member 9, a meshing clutch driven member 10, a triangle fork 11, a rolling bearing 12, a bearing sleeve 13, a U-shaped shifting fork 14, a supporting frame 15, a first shifting fork shaft 16, a supporting frame support 17, a universal joint 18 and a second shifting fork shaft 19.
Since the two sets of wheel drives are symmetrically arranged, only one set of wheel drive will be described below.
The motor 5 is mounted on the inner side of the wheel 6 for driving the wheel 6 to rotate. The connecting flange 8 is arranged on the outer side of the wheel 6 and fixedly connected with the wheel 6 through a plurality of screws 7, and a flange protruding shaft 8-1 is arranged on the outer side of the connecting flange 8. The driving member 9 of the meshing clutch is sleeved on the flange protruding shaft 8-1 of the connecting flange 8 and is fixedly connected with the connecting flange 8 through screws, and the driven member 10 of the meshing clutch is arranged on the outer side of the driving member 9 of the meshing clutch and is sleeved on the flange protruding shaft 8-1 and can slide along the axial direction. The outer side of the meshing clutch driven member 10 is coaxially provided with a first male shaft 10-1 and a second male shaft 10-2 in sequence, and the outer diameter of the second male shaft 10-2 is smaller than that of the first male shaft 10-1. The triangle fork 11 is sleeved on the first protruding shaft 10-1 and is fixedly connected with the engaged clutch driven member 10 through a plurality of screws. The rolling bearing 12 is sleeved on the second protruding shaft 10-2 and is in interference fit with the second protruding shaft, the bearing sleeve 13 is sleeved on the outer ring of the bearing 12, and the bearing sleeve is provided with a threaded hole 13-1. The U-shaped shifting fork 14 is provided with a long groove, such as a double round head through groove 14-1. The screw passes through the double round head through groove and is screwed into the threaded hole 13-1, so that the U-shaped shifting fork 14 and the bearing sleeve 13 can relatively move and rotate, the U-shaped shifting fork 14 is fixedly connected with one end of the first shifting fork shaft 16 in a shaft hole interference fit mode and the like, and the other end of the first shifting fork shaft 16 is fixedly connected with the universal joint 18 in a shaft hole interference fit mode and the like. The other end of the universal joint 18 is fixedly connected with the second shifting fork shaft 19 through shaft hole interference fit and the like.
One end of the supporting frame 15 is fixed on the supporting frame support 17, a U-shaped open slot 15-1 and a threaded hole perpendicular to the U-shaped open slot are arranged at the other end of the supporting frame 15, and a through hole 16-1 is arranged in the middle of the first shifting fork shaft 16. The middle part of the first shifting fork shaft 16 passes through the U-shaped open slot 15-1 and is hinged with the supporting seat 15 through a screw to form a revolute pair.
A pair of knuckle bearings 4 are oppositely arranged on the rotary table 3, and the rotary table 3 is arranged on the steering engine 2. The steering engine 2 is used for controlling the swinging of the shifting fork 4, namely, the steering engine 2 drives the turntable 3 to rotate, so that the knuckle bearing 4 drives the first shifting fork shaft 16, the universal joint 18 and the second shifting fork shaft 19 to move, and further, the shifting fork drives the meshing clutch driven member 10 to move.
In order to realize automatic control, the wheel device further comprises a sensor for sensing a front obstacle and a control system for controlling the steering engine 2 to act according to the sensing result of the sensor.
Referring to fig. 2, a vehicle type robot having the above wheel device mounted thereon includes a base plate 20, and a pair of first auxiliary wheels 22 and a pair of second auxiliary wheels 23 symmetrically disposed at left and right sides of the base plate 20. The steering engine support 1, the motor 5 (not shown in fig. 2) and the support bracket 17 of the wheel device are fixedly connected with the bottom plate 20 through a plurality of screws 21.
Preferably, the diameters of the pair of first auxiliary wheels 22, the pair of second auxiliary wheels 23 and the wheel 6 are the same.
The working principle of the wheel device and the vehicle type robot of the invention is as follows:
after the sensor senses the obstacle in front, a signal is sent to the control system, the control system controls the steering engine to drive the turntable to rotate, the shifting fork moves to one side of the wheel, the driving piece and the driven piece of the meshing clutch are meshed, the triangle fork rotates together with the wheel, and the wheel is lifted up to cross the obstacle. After the steering engine passes over the obstacle, the steering engine controls the shifting fork to move to one side far away from the wheel, the driving part and the driven part of the meshing clutch are separated, and the front wheel is not lifted and runs normally.
In the invention, the inner holes of the connecting flange 8, the meshing clutch driving piece 9 and the meshing clutch driven piece 10 have certain matching precision so as to ensure that the mechanism can operate flexibly.
Claims (4)
1. A wheel device capable of negotiating an obstacle, characterized in that: comprises a steering engine supporting seat (1), a steering engine (2), a turntable (3), a pair of knuckle bearings (4), two wheels (6) and two groups of wheel driving devices which are symmetrically arranged,
each group of wheel driving devices respectively comprises: the device comprises a motor (5), a connecting flange (8), a meshing clutch driving part (9), a meshing clutch driven part (10), a triangle fork (11), a rolling bearing (12), a bearing sleeve (13), a U-shaped fork (14), a support frame (15), a first fork shaft (16), a support frame support (17), a universal joint (18) and a second fork shaft (19),
the motor (5) is arranged on the inner side of the wheel (6) and is used for driving the wheel (6) to rotate;
the connecting flange (8) is arranged at the outer side of the wheel (6) and is fixedly connected with the wheel (6) through a plurality of screws (7), and a flange protruding shaft (8-1) is arranged at the outer side of the connecting flange (8);
the driving member (9) of the meshing clutch is sleeved on the flange convex shaft (8-1) of the connecting flange (8) and is fixedly connected with the connecting flange (8) through screws, and the driven member (10) of the meshing clutch is arranged on the outer side of the driving member (9) of the meshing clutch and is sleeved on the flange convex shaft (8-1) and can slide along the axial direction;
the outer side of the meshing clutch driven piece (10) is sequentially and coaxially provided with a first protruding shaft (10-1) and a second protruding shaft (10-2), and the outer diameter of the second protruding shaft (10-2) is smaller than that of the first protruding shaft (10-1);
the triangular fork (11) is sleeved on the first protruding shaft (10-1) and is fixedly connected with the meshing clutch driven piece (10) through a plurality of screws;
the rolling bearing (12) is fixedly arranged on the second protruding shaft (10-2), the bearing sleeve (13) is sleeved on the outer ring of the rolling bearing (12), and the bearing sleeve (13) is provided with a threaded hole (13-1); the U-shaped shifting fork (14) is provided with a long groove, and the U-shaped shifting fork (14) is connected with the bearing sleeve (13) through a bolt and can move and rotate relatively;
the U-shaped shifting fork (14) is fixedly connected with one end of the first shifting fork shaft (16) in an interference fit mode, the other end of the first shifting fork shaft (16) is fixedly connected with the universal joint (18) in an interference fit mode, and the other end of the universal joint (18) is fixedly connected with the second shifting fork shaft (19) in an interference fit mode;
one end of the support frame (15) is fixed on the support frame support (17), a U-shaped open slot (15-1) and a threaded hole perpendicular to the U-shaped open slot are formed in the other end of the support frame (15), and a through hole (16-1) is formed in the middle of the first shifting fork shaft (16); the middle part of the first shifting fork shaft (16) passes through the U-shaped open slot (15-1) and is hinged with the support frame (15) through a screw to form a revolute pair;
the pair of knuckle bearings (4) are oppositely arranged on the rotary table (3), and the rotary table (3) is arranged on the steering engine (2); the steering engine (2) is used for controlling the swing of the U-shaped shifting fork (14);
the wheel device also comprises a sensor for sensing a front obstacle and a control system for controlling the steering engine (2) to act according to the sensing result of the sensor;
the long groove on the U-shaped shifting fork (14) is a double-round-head groove.
2. The wheel device according to claim 1, wherein: the output shaft of the motor (5) is provided with a hexagonal cross section, a hexagonal concentric blind hole is formed in the inner side of the wheel (6), and the output shaft is inserted into the hexagonal concentric blind hole and fixedly installed through a screw.
3. A vehicle type robot mounted with the wheel device according to claim 1 or 2, characterized in that: the steering engine comprises a bottom plate (20), a pair of first auxiliary wheels (22) and a pair of second auxiliary wheels (23) which are symmetrically arranged on the left side and the right side of the bottom plate (20), and a steering engine supporting seat (1), a motor (5) and a supporting frame support (17) of the wheel device are fixedly arranged on the bottom plate (20).
4. The vehicle type robot according to claim 3, characterized in that: the diameters of the first auxiliary wheel (22), the second auxiliary wheel (23) and the wheel (6) are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074448.6A CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074448.6A CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032921A CN108032921A (en) | 2018-05-15 |
| CN108032921B true CN108032921B (en) | 2024-03-15 |
Family
ID=62097396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810074448.6A Active CN108032921B (en) | 2018-01-25 | 2018-01-25 | Wheel device capable of crossing obstacle and vehicle type robot with wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032921B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| CN103802621A (en) * | 2014-02-20 | 2014-05-21 | 青岛海艺自动化技术有限公司 | Composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN205220850U (en) * | 2015-12-17 | 2016-05-11 | 长安大学 | Multi -functional robot that hinders more |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN208036468U (en) * | 2018-01-25 | 2018-11-02 | 天津职业技术师范大学 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8496077B2 (en) * | 2011-04-28 | 2013-07-30 | California Institute Of Technology | Robotic two-wheeled vehicle |
-
2018
- 2018-01-25 CN CN201810074448.6A patent/CN108032921B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| CN103407511A (en) * | 2013-07-08 | 2013-11-27 | 北京林业大学 | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN103802621A (en) * | 2014-02-20 | 2014-05-21 | 青岛海艺自动化技术有限公司 | Composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs |
| CN205220850U (en) * | 2015-12-17 | 2016-05-11 | 长安大学 | Multi -functional robot that hinders more |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN208036468U (en) * | 2018-01-25 | 2018-11-02 | 天津职业技术师范大学 | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032921A (en) | 2018-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210617739U (en) | Deformable wheel-track combined type wheel applied to trolley robot | |
| CN107010105B (en) | Wire-control steering and independent driving integrated wheel-side electric driving device | |
| EP1547843A4 (en) | In-wheel motor system for steering wheel | |
| KR20140140851A (en) | Reducer having planet gear and Steering apparatus for vehicle having the same | |
| CN109969282B (en) | Four-wheel wall climbing robot with curved surface adsorption function and use method thereof | |
| CN108791477B (en) | Independent steering device of distributed four-wheel drive electric automobile | |
| CN103085857A (en) | Rack assist type steering apparatus and rack assist type electric power steering apparatus having the same | |
| CN110733564B (en) | AGV trolley driving steering device and working method thereof | |
| CN101830247B (en) | Steering mechanism of movable platform | |
| CN106995002A (en) | The decelerator of electric power-assisted steering apparatus | |
| WO2022099898A1 (en) | Desktop robotic arm driving structure, desktop robotic arm, and robot | |
| CN103171644A (en) | All-wheel drive walking mechanism of biomimetic six-wheeled leg | |
| CN105564155B (en) | Electric automobile chassis with adjustable width and automobile body installation method thereof | |
| CN108032921B (en) | Wheel device capable of crossing obstacle and vehicle type robot with wheel device | |
| CN211196423U (en) | Full-steering movable chassis and robot | |
| CN113294625A (en) | Robot and method for walking on bent pipeline | |
| CN110861120B (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN214296108U (en) | Steering switching system suitable for formula car of unmanned driving | |
| CN208036468U (en) | The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly | |
| KR20210067377A (en) | Mecanum wheel with self-deceleration function | |
| CN201670261U (en) | Moving platform steering mechanism | |
| CN105774404B (en) | A kind of steering driving structure of vehicle | |
| CN210478384U (en) | Robot shock attenuation chassis that turns to in a flexible way | |
| CN210680275U (en) | Obstacle crossing wheel system for robot | |
| CN210101829U (en) | Automatic balancing device for driving unit of intelligent carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240410 Address after: 062250, 50 meters northwest of the intersection of Donggu Road and 307 National Road in Daguozhuang Village, Guozhuang Town, Xian County, Cangzhou City, Hebei Province Patentee after: Hebei Jianyi Instrument Equipment Co.,Ltd. Country or region after: China Address before: No. 1310 Dagu South Road, Jinnan District, Tianjin Patentee before: TIANJIN University OF TECHNOLOGY AND EDUCATION Country or region before: China |
|
| TR01 | Transfer of patent right |