CN206797517U - A kind of robot moving platform - Google Patents
A kind of robot moving platform Download PDFInfo
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- CN206797517U CN206797517U CN201720594294.4U CN201720594294U CN206797517U CN 206797517 U CN206797517 U CN 206797517U CN 201720594294 U CN201720594294 U CN 201720594294U CN 206797517 U CN206797517 U CN 206797517U
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- supporting construction
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- upper arm
- push
- connector
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Abstract
A kind of robot moving platform, including vehicle body frame, supporting construction part are connected with below vehicle body frame, supporting construction part is also associated with crawler belt undercarriage, remote monitoring part is also associated with vehicle body frame.The supporting construction being made up of upper arm in lateral push rod, supporting construction upper push-rod, supporting construction lower push-rod, supporting construction and supporting construction underarm, which cooperates, controls supporting construction adjusting device posture.Lightweighting materials fully are used, equipment self-weight is only had tens kilograms, but meet or exceed the ability to work of hundreds of kilograms of traditional robot equipment, while equipment center of gravity can be reduced fully, can ensure that equipment is stable when advancing at a high speed；Using deformable structure, carrying out motion by four-footed, power wheel, crawler belt compound motion system realizes an equipment multiple types of floors adaptability, and four-footed uses electric pushrod, reduces energy consumption with traditional hydraulic system four-footed mode operation.
Description
Technical field
The utility model belongs to specialized robot technical field, is related to a kind of robot moving platform.
Background technology
The robot device early army of having been used for, alert job that requires special skills environment, by robot device be used for it is explosive, search for, hit, rescue
The link such as help.For related application, especially explosive and search occurs numerous products on Vehicles Collected from Market, and product takes crawler belt more
Or wheeled domain, top installation mechanical arm and detecting devices are realized.Device therefor own wt is heavier, needs during mechanical arm operation
Conduct oneself with dignity by chassis and keep balance, because own wt is larger, and to ensure largely to use crawler belt domain by property, cause to advance
The problems such as speed is low, high energy consumption, ground adaptability difference.Because own wt is heavier, explosive-removal robot is usually up to hundreds of public affairs
Jin is, it is necessary to which special vehicle delivers.And its selling at exorbitant prices, it is difficult to extensive use.
There are the robot device that four-footed is advanced in foreign countries, but itself energy consumption of these equipment is too high, in practical equipment needs
Combustion engine supports that its noise and thermal signal make it be difficult to put into practical application.
Utility model content
The purpose of this utility model is to provide a kind of robot moving platform, solves ground present in prior art and fits
The problem of answering ability.
The utility model is the technical scheme adopted is that a kind of robot moving platform, including vehicle body frame, vehicle body frame
The upper edges of be parallel to each other two frames be respectively symmetrically provided with a pair of lateral push rods, be connected with supporting construction below vehicle body frame
Part, supporting construction part are also associated with crawler belt undercarriage,
Supporting construction part, including supporting construction connector, one end of supporting construction connector and one end of lateral push rod
It is flexibly connected, the two other of vehicle body frame is parallel to each other and the frame side vertical with lateral push rod is respectively fixed with a pair
Supporting construction connector hinge arrangement, one end of supporting construction connector hinge arrangement are passed across in supporting construction connector
Between, and supporting construction connector is protruded from, the one of the remote supporting construction connector of each supporting construction connector hinge arrangement
One end with supporting construction upper push-rod is held to be hinged, the other end and the supporting construction upper arm of each supporting construction upper push-rod are hinged, often
The one end of one end of individual supporting construction upper arm also with the remote lateral push rod of supporting construction connector is flexibly connected, each support knot
The middle part of structure upper arm is flexibly connected with one end of supporting construction lower push-rod, and each supporting construction upper arm is away from supporting construction
One end of push rod and one end of supporting construction underarm are hinged, supporting construction lower push-rod one end and support away from supporting construction upper arm
Structure underarm links；The each one end of supporting construction underarm away from supporting construction upper arm is installed with driving wheel；
Crawler belt undercarriage includes track rail assembly, and track rail assembly is arranged on each supporting construction underarm away under supporting construction
The side of push rod, each driving wheel track rail assembly driving wheel close to the side of vehicle body frame by axis connection, and track rail assembly drives
For driving wheel through supporting construction underarm close to one end of driving wheel, it is driven that track rail assembly driving wheel by belt is connected to track rail assembly
Wheel.
In addition, of the present utility model be further characterized in that,
Remote monitoring part is wherein also associated with vehicle body frame, remote monitoring part includes white light shooting assembly, white light
Assembly is imaged to be arranged on vehicle body frame and the perpendicular frame of lateral push rod, another of car body frame with lateral push rod phase
Feux rouges shooting assembly is symmetrically installed on vertical frame.
Wherein lateral push rod, supporting construction upper push-rod and supporting construction lower push-rod be by buttress shaft with addition
The Collapsible structure that one blank pipe nesting forms, lateral push rod can stretch along the direction perpendicular with equipment direction of advance.
The direction that wherein supporting construction can stretch along lateral push rod is remote or close to vehicle body frame.
The both ends of wherein supporting construction connector are arranged with the first opposite U-shaped opening of opening direction and second and U-shaped opened
Mouthful, one end of lateral push rod through the first U-shaped opening and with the axle of lateral push rod vertical direction with supporting construction by being connected
One end of part is hinged, and supporting construction connector can come along the direction that lateral push rod stretches around supporting construction connector hinge arrangement
Backswing is moved.
Wherein supporting construction upper arm has the 3rd U-shaped opening close to one end of supporting construction connector, in supporting construction
Arm is hinged by the axle and supporting construction connector for crossing the openend of the 3rd U-shaped opening, and supporting construction upper arm can be with support
Structural connection swings and moved；Supporting construction upper arm is connected by the axle and supporting construction for crossing the openend of the 3rd U-shaped opening
Second U-shaped opening of fitting is hinged, and supporting construction upper arm can lift with the flexible of supporting construction upper push-rod；Supporting construction
The hole of the middle part setting ellipse of upper arm, the both sides of the middle part in the hole of supporting construction upper arm are mutually symmetrical with provided with a pair
It is first raised, supporting construction lower push-rod is hinged by crossing a pair first raised axles with supporting construction upper arm, supporting construction
Lower push-rod can be swung with the lifting of supporting construction upper arm；One end of the remote supporting construction connector of supporting construction upper arm is set
There is the 4th U-shaped opening, supporting construction upper arm is hinged by crossing the axle of the 4th U-shaped opening with supporting construction underarm, supporting construction
Underarm can be remote with the lifting of supporting construction upper arm or close to ground.
Wherein the size of the 3rd U-shaped opening is more than the 4th U-shaped opening.
Wherein supporting construction underarm and be provided between driving wheel and track rail assembly a pair it is symmetrical second raised,
Supporting construction lower push-rod is hinged by crossing two second raised axles with supporting construction underarm, and supporting construction underarm can be with branch
The flexible and remote or close ground of support structure lower push-rod.
Wherein track rail assembly driving wheel is located at the side of the close supporting construction lower push-rod of driving wheel.
Wherein driving wheel is wheel hub motor.
The beneficial effects of the utility model are that solve the problems, such as operation process balance of plant, operation using the method for support
Instrument can allow equipment to operate the article for reaching own wt, therefore equipment is free of with chassis supporting structure with synchronous adjustment
Counterweight, fully using lightweighting materials, equipment self-weight is only had tens kilograms, but meet or exceed hundreds of kilograms of conventional machines
The ability to work of people's equipment, while equipment center of gravity can be reduced fully, can ensure that equipment is stable when advancing at a high speed；Using deformable
Structure, carrying out motion by four-footed, power wheel, crawler belt compound motion system realizes an equipment multiple types of floors adaptability, and
And four-footed uses electric pushrod, reduce energy consumption with traditional hydraulic system four-footed mode operation；Noise is low, is hidden under power tool,
Device structure is deformable, possesses and hidden enters target location, the energy that adjusting device and tool height carry out investigations with other operations
Power.
Brief description of the drawings
Fig. 1 is a kind of structure chart of robot moving platform of the utility model；
Fig. 2 is a kind of structure chart of the supporting construction of robot moving platform of the utility model；
Fig. 3 is a kind of structure chart of the four-footed motion morphology of robot moving platform of the utility model；
Fig. 4 is a kind of structure chart of the dynamic wheel motion morphology of robot moving platform of the utility model；
Fig. 5 is a kind of structure chart of the caterpillar drive form of robot moving platform of the utility model.
In figure, 1. vehicle body frames, 2. lateral push rods, 3. supporting construction connectors, 31. first U-shaped openings, 32. second is U-shaped
Opening, 4. driving wheels, 5. supporting construction upper push-rods, 6. supporting construction upper arm, 61. the 3rd U-shaped openings, 62. the 4th U-shaped openings,
63. hole, 64. first is raised, 7. track rail assemblies, 8. infrared photography assemblies, 9. crawler belts pay driven pulley, and 10. crawler belts pay driving wheel,
11. supporting construction lower push-rod, 12. white lights shooting assembly, 13. supporting construction underarms, 131. second is raised, and 14. supporting constructions connect
Fitting hinge arrangement.
Embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of robot moving platform, structure such as Fig. 1, including vehicle body frame 1, be parallel to each other two of vehicle body frame 1
The upper edge of frame is respectively symmetrically provided with a pair of lateral push rods 2, and vehicle body frame 1 coupled underneath supporting construction part, supporting construction
Part is also connected with crawler belt undercarriage, and remote monitoring part is also connected with vehicle body frame 1.Supporting construction shares four sets, bag
Supporting construction connector 3 is included, one end of supporting construction connector 3 is flexibly connected with one end of lateral push rod 2, vehicle body frame 1
Two other is parallel to each other and fixed a pair of supporting constructions connector hinge is distinguished in the frame side vertical with lateral push rod 2
Structure 14, one end of supporting construction connector hinge arrangement 14 passes across the centre of supporting construction connector 3, and protrudes from support
Structural connection 3, one end of the remote supporting construction connector 3 of each supporting construction connector hinge arrangement 14 and supporting construction
One end of upper push-rod 5 is hinged, and the other end and supporting construction upper arm 6 of each supporting construction upper push-rod 5 are be hinged, each supporting construction
The one end of one end of upper arm 6 also with the remote lateral push rod 2 of supporting construction connector 3 is flexibly connected, each supporting construction upper arm 6
Middle part be flexibly connected with one end of supporting construction lower push-rod 11, each supporting construction upper arm 6 above pushes away away from supporting construction
One end of bar 5 and one end of supporting construction underarm 13 are hinged, the one end of supporting construction lower push-rod 11 away from supporting construction upper arm 6 with
Supporting construction underarm 13 links；The each one end of supporting construction underarm 13 away from supporting construction upper arm 6 is installed with driving wheel 4, drives
Driving wheel 4 is wheel hub motor；Crawler belt undercarriage includes track rail assembly 7, and it is remote that track rail assembly 7 is arranged on each supporting construction underarm 13
From the side of supporting construction lower push-rod 11, each driving wheel 4 track rail assembly by axis connection close to the side of vehicle body frame 1 and driven
Driving wheel 10, track rail assembly driving wheel 10 are logical close to one end of driving wheel 4, track rail assembly driving wheel 10 through supporting construction underarm 13
Cross belt and be connected to track rail assembly driven pulley 9, track rail assembly driving wheel 10 is located at the close supporting construction lower push-rod 11 of driving wheel 4
Side.Remote monitoring part includes white light shooting assembly 12, and white light shooting assembly 12 is arranged on vehicle body frame 1 and lateral push rod
On 2 perpendicular frames, feux rouges is symmetrically installed on another frame perpendicular with lateral push rod 2 of car body frame 1
Image assembly 12.Lateral push rod 2, supporting construction upper push-rod 5 and supporting construction lower push-rod 11 be by buttress shaft with
The Collapsible structure that another blank pipe nesting forms, lateral push rod 2 can be stretched along the direction perpendicular with equipment direction of advance
Contracting, the direction that supporting construction can stretch along lateral push rod 2 are remote or close to vehicle body frame 1.
Such as Fig. 2, the both ends of supporting construction connector 3 are arranged with the first opposite U-shaped opening 31 of opening direction and the 2nd U
Type opening 32, one end of lateral push rod 2 by through the first U-shaped opening 31 and with the axle and branch of the lateral vertical direction of push rod 2
One end of support structure connector 3 is hinged, and supporting construction connector 3 can connect along the direction that lateral push rod 2 stretches around supporting construction
Fitting hinge arrangement 14 swings back and forth.Supporting construction upper arm 6 has the 3rd U-shaped to open close to one end of supporting construction connector 3
Mouthfuls 61, supporting construction upper arm 6 is by crossing openend and the axle parallel with lateral push rod 2 and the of the 3rd U-shaped opening 61
Two U-shaped openings 32 are be hinged, and supporting construction upper arm 6 can swing and move with supporting construction connector 3；Supporting construction upper arm 6 is logical
Cross and be hinged through the other end of the 3rd U-shaped opening 61 and the axle parallel with lateral push rod 2 with supporting construction upper push-rod 5, branch
Support structure upper arm 6 can lift with the flexible of supporting construction upper push-rod 5；The middle part of supporting construction upper arm 6 sets ellipse
Circular hole 63, the both sides of the middle part in the hole 63 of supporting construction upper arm 6 are provided with a pair of the first mutually symmetrical with projections 64, prop up
Support structure lower push-rod 11 is be hinged by the axle and supporting construction upper arm 6 for crossing a pair of first projections 64, supporting construction lower push-rod 11
It can be swung with the lifting of supporting construction upper arm 6；One end of the remote supporting construction connector 3 of supporting construction upper arm 6 is provided with
4th U-shaped opening 62, supporting construction upper arm 6 is be hinged by the axle and supporting construction underarm 13 for crossing the 4th U-shaped opening 62, support
Structure underarm 13 can be remote with the lifting of supporting construction upper arm 6 or close to ground.The size of 3rd U-shaped opening 61 is more than
4th U-shaped opening 62.Supporting construction underarm 13 is provided with a pair symmetrical second between driving wheel 4 and track rail assembly 7
Projection 131, supporting construction lower push-rod 11 is be hinged by the axle and supporting construction underarm 13 for crossing two the second projections 131, support
Structure underarm 13 can be with the flexible and remote of supporting construction lower push-rod 11 or close to ground.
A kind of use principle of robot moving platform of the utility model is：Equipment is in movement, such as Fig. 3, if run into
When crossing disconnected wall and irrigation canals and ditches, it can be deformed into four-footed mode and advance, supporting construction upper push-rod 5 extends, and supporting construction upper arm 6 leans on
One end of nearly supporting construction connector 3 is moved to the direction away from ground, and supporting construction lower push-rod 11 extends, supporting construction underarm
13 is parallel to the ground, and track rail assembly 7 leaves ground, and driving wheel 4 lands, and its upper side integrally uprises, and is now moved by locked
Wheels 4, which contacts to earth, realizes support, can carry out gait traveling at a slow speed；
Such as Fig. 4, if run into paved road, power wheel 4 is unlocked, equipment be deformed into dynamic wheel traveling, four-footed with
The cooperation of dynamic wheel motion, equipment can realize compound motion pattern；
Such as Fig. 5, if run into sandstone, meadow, muddy road surface, equipment is deformed into caterpillar drive state, in supporting construction
Push rod 5 is shunk, and one end of the close supporting construction connector 3 of supporting construction upper arm 6 is moved to the direction close to ground, support knot
Structure lower push-rod 11 shrinks, and supporting construction underarm 13 is parallel to the ground, and driving wheel 4 leaves ground, and track rail assembly 7 lands, in equipment
Portion integrally forces down, and is landed driving by track rail assembly 7, and power wheel 4 drives track rail assembly driving wheel 10 by drive mechanism, realizes
Power transmission to track rail assembly 7.
The utility model embodiment reserves expansion area, can install various functions module, such as multi-degree-of-freemechanical mechanical arm additional, be
It is combined into military robot and specialized robot is provided convenience.
By with upper type, a kind of robot moving platform of the utility model, solving operation process using the method for support
The problem of balance of plant, power tool and chassis supporting structure synchronous adjustment, allow equipment to operate the thing for reaching own wt
Product, therefore equipment is free of counterweight, fully using lightweighting materials, equipment self-weight is only had tens kilograms, can be by two work
Personnel are delivered with draw-bar box, change currently marketed product weight overweight the problem of needing special-purpose vehicle carrying, Er Qieneng
The ability to work of hundreds of kilograms of traditional robot equipment is met or exceeded, while equipment center of gravity can be reduced fully, be gone at a high speed
It can ensure that equipment is stable when entering；Using deformable structure, it is real that motion is carried out by four-footed, power wheel, crawler belt compound motion system
Show an equipment multiple types of floors adaptability, operation function variation, and four-footed uses electric pushrod, with traditional hydraulic pressure system
Four-footed mode operation of uniting reduces energy consumption；Noise is low, is hidden under power tool, and device structure is deformable, possesses hidden into target position
Put, the ability that adjusting device and tool height carry out investigations with other operations.
Claims (10)
1. a kind of robot moving platform, it is characterised in that including vehicle body frame (1), vehicle body frame (1) is parallel to each other
Two frames on be respectively symmetrically provided with a pair of lateral push rods (2), the vehicle body frame (1) is connected with supporting construction portion below
Point, supporting construction part is also associated with crawler belt undercarriage,
Supporting construction part, including supporting construction connector (3), one end of the supporting construction connector (3) with it is described lateral
One end of push rod (2) is flexibly connected, and the frame side that the two other of the vehicle body frame (1) is parallel to each other is respectively fixed with one
To supporting construction connector hinge arrangement (14), one end of the supporting construction connector hinge arrangement (14) passes across the branch
The centre of support structure connector (3), each on the other end and supporting construction of the supporting construction connector hinge arrangement (14)
One end of push rod (5) is hinged, and the other end and supporting construction upper arm (6) of each supporting construction upper push-rod (5) are be hinged, each
The one end of one end of the supporting construction upper arm (6) also with the remote lateral push rod (2) of the supporting construction connector (3)
It is flexibly connected, the middle part of each supporting construction upper arm (6) is flexibly connected with one end of supporting construction lower push-rod (11),
The one end of each supporting construction upper arm (6) away from the supporting construction upper push-rod (5) and the one of supporting construction underarm (13)
End is be hinged, the one end of the supporting construction lower push-rod (11) away from the supporting construction upper arm (6) and the supporting construction underarm
(13) link, each one end of the supporting construction underarm (13) away from the supporting construction upper arm (6) is provided with driving wheel
(4),
The crawler belt undercarriage includes track rail assembly (7), and the track rail assembly (7) is arranged on each supporting construction underarm
(13) side away from the supporting construction lower push-rod (11), each driving wheel (4) is close to the one of the vehicle body frame (1)
There is track rail assembly driving wheel (10) side by axis connection, and the track rail assembly driving wheel (10) passes through the supporting construction underarm
(13) close to one end of the driving wheel (4), it is driven that the track rail assembly driving wheel (10) by belt is connected with track rail assembly
Take turns (9).
2. a kind of robot moving platform as claimed in claim 1, it is characterised in that be also connected with the vehicle body frame (1)
There is remote monitoring part, the remote monitoring part includes white light shooting assembly (8) and feux rouges shooting assembly (12), the white light
Shooting assembly (8) and feux rouges shooting assembly (12) be separately mounted to the vehicle body frame (1) and with it is described laterally push rod (2) phase
On two vertical frames.
3. a kind of robot moving platform as claimed in claim 1, it is characterised in that lateral push rod (2), the support
Structure upper push-rod (5) and the supporting construction lower push-rod (11) be by buttress shaft it is nested with another blank pipe and
Into Collapsible structure, the lateral push rod (2) can stretch along the direction perpendicular with equipment direction of advance.
4. a kind of robot moving platform as described in claim 1 or 3, it is characterised in that the supporting construction can be along institute
The flexible direction of lateral push rod (2) is stated away from or close to the vehicle body frame (1).
A kind of 5. robot moving platform as described in claim 1 or 3, it is characterised in that the supporting construction connector (3)
Both ends be arranged with opposite the first U-shaped opening (31) and the second U-shaped opening (32) of opening direction, the laterally push rod (2)
One end be hinged by the axle and one end of the supporting construction connector (3) for crossing first U-shaped opening (31), the branch
Support structure connector (3) can be along the flexible direction of the lateral push rod (2) around the supporting construction connector hinge arrangement
(14) swing back and forth.
6. a kind of robot moving platform as claimed in claim 5, it is characterised in that the supporting construction upper arm (6) is close
One end of the supporting construction connector (3) is provided with the 3rd U-shaped opening (61), and the supporting construction upper arm (6) is by crossing
The second U-shaped opening (32) of the axle and the supporting construction connector (3) of stating the openend of the 3rd U-shaped opening (61) is hinged, institute
Stating supporting construction upper arm (6) can move with the swing of the supporting construction connector (3)；The supporting construction upper arm (6)
It is hinged by the axle for the other end for crossing the 3rd U-shaped opening (61) with the supporting construction upper push-rod (5), the support knot
Structure upper arm (6) can lift with the flexible of the supporting construction upper push-rod (5)；The pars intermedia of the supporting construction upper arm (6)
Position is provided with the hole (63) of ellipse, and the middle part of hole (63) both sides of the supporting construction upper arm (6) is mutual provided with a pair
Symmetrical first raised (64), the supporting construction lower push-rod (11) is by crossing axle and the institute of a pair described first raised (64)
It is be hinged to state supporting construction upper arm (6), the supporting construction lower push-rod (11) can with the lifting of the supporting construction upper arm (6) and
Swing；One end of the remote supporting construction connector (3) of the supporting construction upper arm (6) is provided with the 4th U-shaped opening (62),
The supporting construction upper arm (6) is be hinged by the axle and the supporting construction underarm (13) for crossing the 4th U-shaped opening (62),
The supporting construction underarm (13) can be remote with the lifting of the supporting construction upper arm (6) or close to ground.
A kind of 7. robot moving platform as claimed in claim 6, it is characterised in that the chi of the 3rd U-shaped opening (61)
It is very little to be more than the 4th U-shaped opening (62).
A kind of 8. robot moving platform as described in claim 1 or 3, it is characterised in that the supporting construction underarm (13)
Above and between the driving wheel (4) and the track rail assembly (7) it is provided with a pair symmetrical second raised (131), institute
State supporting construction lower push-rod (11) and cut with scissors by crossing the axle of two described second raised (131) with the supporting construction underarm (13)
Connect, the supporting construction underarm (13) can be with the flexible and remote of the supporting construction lower push-rod (11) or close to ground.
A kind of 9. robot moving platform as claimed in claim 1, it is characterised in that track rail assembly driving wheel (10) position
In on the driving wheel (4) and close to the side of the supporting construction lower push-rod (11).
10. a kind of robot moving platform as claimed in claim 1, it is characterised in that the driving wheel (4) is wheel hub electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720594294.4U CN206797517U (en) | 2017-05-25 | 2017-05-25 | A kind of robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720594294.4U CN206797517U (en) | 2017-05-25 | 2017-05-25 | A kind of robot moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206797517U true CN206797517U (en) | 2017-12-26 |
Family
ID=60742474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720594294.4U Active CN206797517U (en) | 2017-05-25 | 2017-05-25 | A kind of robot moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206797517U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189925A (en) * | 2018-02-06 | 2018-06-22 | 南京理工大学 | More multi-functional fighter robots of landform |
-
2017
- 2017-05-25 CN CN201720594294.4U patent/CN206797517U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189925A (en) * | 2018-02-06 | 2018-06-22 | 南京理工大学 | More multi-functional fighter robots of landform |
| CN108189925B (en) * | 2018-02-06 | 2023-08-18 | 南京理工大学 | Multi-terrain multifunctional fighter robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ye Hong Inventor after: Long Lin Inventor after: Liu Yezhou Inventor before: Ye Hong |
|
| CB03 | Change of inventor or designer information |