CN216056641U - Motor and foot type robot - Google Patents
Motor and foot type robot Download PDFInfo
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- CN216056641U CN216056641U CN202121710831.XU CN202121710831U CN216056641U CN 216056641 U CN216056641 U CN 216056641U CN 202121710831 U CN202121710831 U CN 202121710831U CN 216056641 U CN216056641 U CN 216056641U
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- 238000009434 installation Methods 0.000 claims abstract description 3
- 210000002414 leg Anatomy 0.000 claims description 30
- 210000000689 upper leg Anatomy 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a motor and a foot type robot, wherein the motor comprises a machine shell, a machine core, an output flange and a buffer piece, the machine core comprises a stator, a rotor and an output end cover, the stator and the rotor are arranged in the machine shell, the output end cover is arranged on the machine shell, the rotor can pivot relative to the stator, the rotor is coaxially connected with the output end cover, and the output end cover is provided with an installation groove; the output flange is connected with the output end cover and arranged in the mounting groove; the buffer piece is clamped between the output flange and the output end cover and used for separating the output flange from the output end cover. The motor provided by the utility model has the advantages of high strength, difficult damage, long service life and low noise.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a motor and a foot type robot.
Background
The servo motor is a driving device commonly used for a legged robot (also referred to as legged robot) and is used for driving leg components of the legged robot so as to enable the legged robot to move. Usually, the servo motor is connected with the leg assembly through an output flange to realize the driving connection of the output end cover and the leg assembly. In the related art, the noise that sends when servo motor receives external impact is great, and causes the damage of servo motor internals easily, but reduces servo motor's life.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the utility model provides the motor which has the advantages of high strength, difficult damage, long service life and low noise.
The embodiment of the utility model also provides a foot type robot.
The motor comprises a machine shell, a machine core, an output flange and a buffer piece, wherein the machine core comprises a stator, a rotor and an output end cover; the output flange is connected with the output end cover and is arranged in the mounting groove; the buffer piece is clamped between the output flange and the output end cover and used for separating the output flange from the output end cover.
The motor provided by the embodiment of the utility model has the advantages of high strength, difficulty in damage, long service life and low noise.
In some embodiments, the buffer member includes a belt, the belt is disposed in the mounting groove, the belt is radially sandwiched between the output flange and the output end cover, and the output flange is connected to the output end cover through the belt.
In some embodiments, the buffer further includes an elastic pad sandwiched between the output flange and the output end cap in an axial direction of the output flange.
In some embodiments, the inner side wall of the belt is extended to form a limiting protrusion, the side wall of the output flange is provided with a first limiting groove, and the limiting protrusion is fitted in the corresponding first limiting groove.
In some embodiments, the number of the limiting protrusions is multiple, and the limiting protrusions are distributed at intervals along the circumferential direction of the belt.
In some embodiments, the limiting protrusion extends along the width direction of the belt, two ends of the limiting protrusion are respectively flush with two ends of the belt in the width direction, and the first limiting groove penetrates through the output flange along the axial direction of the output flange.
In some embodiments, the side wall of the elastic pad is attached to the inner side wall of the belt, the side wall of the elastic pad is provided with a second limiting groove, and the limiting protrusion is fitted in the second limiting groove.
In some embodiments, the motor further includes a screw member, a connection hole is formed in the bottom surface of the mounting groove, a threaded hole is formed in the output flange, and the screw member penetrates through the connection hole and is in threaded fit with the threaded hole, so that the output end cover is connected with the output flange.
In some embodiments, the threaded member is a bolt.
In some embodiments, the motor further comprises a bearing, a fitting hole is coaxially arranged at one end, away from the mounting groove, of the connecting hole, the bearing is in interference fit in the fitting hole, and the threaded piece is fitted in the bearing.
The legged robot comprises a body assembly and a plurality of leg assemblies, wherein the leg assemblies are connected with the body assembly, and the body assembly and/or the leg assemblies are/is provided with a motor.
The technical advantages of the legged robot according to embodiments of the present invention are the same as those of the above-described motor, and are not described herein again.
In some embodiments, the motor is disposed on the trunk assembly, the leg assembly includes a thigh, the trunk assembly and the thigh are connected by the motor, and the motor is used for driving the thigh to swing.
In some embodiments, the leg assembly is provided with the motor, the leg assembly further comprises a lower leg, the upper leg is connected with the lower leg through the motor, and the motor is used for driving the lower leg to swing.
Drawings
Fig. 1 is a schematic view of a motor according to an embodiment of the present invention.
Fig. 2 is a sectional view of a motor according to an embodiment of the present invention.
Fig. 3 is a further cross-sectional view of an electric machine according to an embodiment of the utility model.
FIG. 4 is a schematic view of an output flange according to an embodiment of the present invention.
FIG. 5 is a schematic view of a belt according to an embodiment of the present invention.
Fig. 6 is a schematic view of a legged robot in accordance with an embodiment of the present invention.
Reference numerals:
the motor 1000, the casing 100, the movement 200, the stator 210, the rotor 220, the rotor shaft 221, the rotor support 222, the magnetic conduction ring 223, the output end cover 230, the mounting groove 231, the connecting hole 232, the fitting hole 233, the planetary reduction mechanism 240, the sun gear 241, the inner gear ring 242, the planet carrier 243, the planet gear 244, the planet shaft 245, the output flange 300, the first limiting groove 301, the bolt 302, the threaded hole 303, the buffer 400, the belt 410, the limiting protrusion 411, the elastic pad 420, the second limiting groove 421, the bearing 430, the foot robot 500, the body component 510, the leg component 520, the thigh 521 and the calf 522.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
A motor 1000 and a foot robot 500 having the motor 1000 according to an embodiment of the present invention will be described with reference to fig. 1 to 6.
As shown in fig. 1 to 5, a motor 1000 according to an embodiment of the present invention includes a casing 100, a movement 200, an output flange 300, and a buffer 400.
The output flange 300 is coupled to the output end cap 230 and is disposed in the mounting groove 231. The buffer member 400 is interposed between the output flange 300 and the output end cap 230 for separating the output flange 300 from the output end cap 230.
The motor 1000 according to the embodiment of the present invention separates the output flange 300 from the output cover 230 by providing the buffer member 400 between the output flange 300 and the output cover 230. So that when the output flange 300 is impacted by an external force, the output flange 300 first transmits the impact force to the buffer member 400. The damper 400 has elasticity and can absorb a part of the energy of the impact force, so that the damper 400 transmits the impact force, which has been reduced, to the movement 200 (the output end cap 230). Therefore, the impact force applied to the movement 200 is small, that is, the buffer 400 can reduce the impact force applied to the movement 200, and improve the strength of the movement 200 in a phase-changing manner, so that the movement 200 is not easily damaged, the service life of the movement 200 is prolonged, the output flange 300 can be prevented from directly colliding with the output end cover 230, and the noise of the motor 1000 is reduced.
Therefore, the motor 1000 according to the embodiment of the present invention has the advantages of high strength, less damage, long service life and low noise.
For ease of understanding, arrow a in fig. 3 shows the front-rear direction of the motor 1000 according to the embodiment of the present invention.
As shown in fig. 1 to 5, a motor 1000 according to an embodiment of the present invention includes a casing 100, a movement 200, an output flange 300, and a buffer 400.
The output flange 300 is coupled to the output end cap 230 and is disposed in the mounting groove 231. For example, the output flange 300 is fixedly connected to the output cover 230, so that the output cover 230 can rotate the output flange 300 when driven by the rotor 220.
The buffer member 400 is interposed between the output flange 300 and the output end cap 230 for separating the output flange 300 from the output end cap 230. Therefore, when the output flange 300 is impacted by external force, the buffer member 400 can reduce the impact force received by the movement 200 (the output end cover 230). The phase change improves the strength of the movement 200, and can prevent the output flange 300 from directly colliding with the output end cover 230, thereby reducing the noise of the motor 1000.
In some embodiments, as shown in fig. 3, the movement 200 further includes a planetary reduction mechanism 240, and the planetary reduction mechanism 24 includes a sun gear 241, an annular gear 242, a planet carrier 243, and a plurality of planet gears 244 that mesh with the sun gear 241 and the annular gear 242. The planetary gears 244 are engaged with the sun gear 241 and the inner gear ring 242, the sun gear 241 is coaxially connected with the rotor 220, for example, the sun gear and the rotor are sleeved together, and the planetary shafts 245 of the plurality of planetary gears 244 are connected with the planetary carrier 243 and the output end cover 230.
Further, the rotor 22 includes a rotor shaft 221 and a rotor bracket 222, the rotor shaft 221 is coaxially connected to the rotor bracket 222, a magnetic ring 223 is disposed on the rotor bracket 222, the stator 21 can drive the rotor bracket 222 to rotate through the magnetic ring, and the rotor bracket 222 drives the rotor shaft 221 to rotate. The rotor holder 222 drives the sun gear 241 to rotate, the sun gear 241 drives the planet wheel 244 and the planet shaft 245 to rotate, and the planet shaft 245 drives the planet carrier 243 and the output end cover 230 to rotate, so that the driving motor 1000 rotates.
As shown in fig. 2 to 5, the buffer member 400 includes a belt 410, and the belt 410 is disposed in the mounting groove 231. The belt 410 is sandwiched between the output flange 300 and the output end cover 230 in the radial direction of the output flange 300, and the output flange 300 is connected to the output end cover 230 through the belt 410.
Specifically, the belt 410 is fitted over the output flange 300, an inner wall surface of the belt 410 is connected to a side wall of the output flange 300, and an outer wall surface of the belt 410 is connected to a side wall of the mounting groove 231. For example, the belt 410 is endless, and the belt 410 extends in the front-rear direction. The belt 410 has a certain friction force, so that the belt 410 can circumferentially position the output flange 300, and the output end cover 230 and the output flange 300 can be in transmission connection through the belt 410. When the output end cap 230 rotates, the belt 410 is driven to rotate, thereby driving the output flange 300 to rotate. When the output flange 300 receives the impact force in the radial direction, the belt 410 can reduce the impact force transmitted to the output end cover 230, change the phase and increase the structural strength of the output end cover 230 (the movement 200), thereby increasing the service life of the movement 200.
As shown in fig. 2 to 4, in some embodiments, the buffer 400 further includes an elastic pad 420, and the elastic pad 420 is interposed between the output flange 300 and the output end cap 230 in the axial direction of the output flange 300. For example, the elastic pad 420 is provided between the output flange 300 and the output cover 230 in the front-rear direction. When the output flange 300 receives the impact force in the axial direction thereof, the elastic pad 420 can reduce the impact force transmitted to the output end cover 230, and phase change increases the structural strength of the output end cover 230 (the movement 200), thereby increasing the service life of the movement 200. And the belt 410 and the elastic pad 420 may prevent the output flange 300 from directly colliding with the output cover 230, so that noise of the motor 1000 may be reduced.
As shown in fig. 2 and 5, in some embodiments, the inner sidewall of the belt 410 is extended to form a limiting protrusion 411, the sidewall of the output flange 300 is provided with a first limiting groove 301, and the limiting protrusion 411 is fitted in the corresponding first limiting groove 301. The engagement of the retaining protrusions 411 in the corresponding first retaining grooves 301 allows the belt 410 to circumferentially position the output flange 300. Specifically, the limiting protrusion 411 is an arc protrusion with a curved surface, and the shape of the first limiting groove 301 is matched with the limiting protrusion 411, so that the limiting protrusion 411 can be clamped with the first limiting groove 301. The limiting protrusion 411 is clamped in the first limiting groove 301, so that the belt 410 and the output flange 300 cannot slide mutually, and the belt 410 drives the output flange 300 to rotate.
As shown in fig. 4 and 5, in some embodiments, the number of the limiting protrusions 411 is multiple, and the limiting protrusions 411 are distributed at intervals along the circumferential direction of the belt 410. The spacing protrusions 411 distributed at intervals can make the friction force between the belt 410 and the output flange 300 distributed more uniformly, so that the belt 410 can drive the output flange 300 to rotate.
In some embodiments, the outer sidewall of the belt 410 may be extended to have an end cap limiting protrusion, and the sidewall of the mounting groove 231 may have an end cap limiting groove. The end cover limiting protrusion is fitted in the end cover limiting groove, so that the belt 410 and the output end cover 230 cannot slide with each other, and the output end cover 230 drives the belt 410 to rotate.
As shown in fig. 5, in some embodiments, the limiting protrusion 411 extends along the width direction of the belt 410, and both ends of the limiting protrusion 411 are flush with both ends of the belt 410 in the width direction, respectively. For example, the stopper protrusion 411 extends in the front-rear direction, the front end of the stopper protrusion 411 is flush with the front end of the belt 410, and the rear end of the stopper protrusion 411 is flush with the rear end of the belt 410. Therefore, the clamping range of the limiting protrusion 411 is large, and the connection strength of the belt 410 and the output flange 300 is ensured. The first limiting groove 301 penetrates through the output flange 300 along the axial direction of the output flange 300, that is, the first limiting groove 301 is clamped with the limiting protrusion 411 along the axial direction of the output flange 300. For example, the first limiting groove 301 penetrates through the output flange 300 along the front-back direction, so that the output flange 300 can be directly clamped in the belt 410 along the front-back direction, and the belt 410 and the output flange 300 can be conveniently installed.
In some embodiments, the sidewall of the elastic pad 420 fits the inner sidewall of the belt 410, the sidewall of the elastic pad 420 is provided with a second limiting groove 421, and the limiting protrusion 411 fits in the second limiting groove 421. So that the position-limiting protrusion 411 can be engaged with the second position-limiting groove 421, i.e. the elastic pad 420 and the belt 410 will not move relative to each other. That is, any two of the output flange 300, the elastic pad 420 and the belt 410 do not rotate with each other, so that the buffer 400 has good stability, and the strength of the movement 200 is enhanced.
In some embodiments, the motor 1000 further includes a screw member, a connection hole 232 is formed on a bottom surface of the mounting groove 231, and a screw hole 303 is formed on the output flange 300. The threaded member passes through the coupling hole 232 and is threadedly engaged with the threaded hole 303 to facilitate coupling of the output end cap 230 to the output flange 300. The screw member axially positions the output flange 300, and the screw member fixes the output flange 300 to the output cover 230 in the axial direction of the output flange 300. So that the output flange 300 and the output end cap 230 are more stably coupled.
As shown in fig. 3, in some embodiments, the threaded member is a bolt 302. Specifically, threaded sections of bolts 302 pass through the connection holes 232 and are threadedly engaged with the threaded holes 303, thereby fixing the output flange 300 to the output end cover 230 in the axial direction of the output flange 300. For example, the bolt 302 extends in the front-rear direction, and a front section (threaded section) of the bolt 302 passes through the connection hole 232 and is threadedly engaged with the threaded hole 303.
As shown in fig. 2 and 3, in some embodiments, the motor 1000 further includes a bearing 430, and an end of the connection hole 232 facing away from the installation groove 231 is coaxially provided with a fitting hole 233. That is, the connection hole 232 is located between the mounting groove 231 and the fitting hole 233. For example, the coupling hole 232 is located between the mounting groove 231 and the fitting hole 233 in the front-rear direction, and the fitting hole 233 is located at the rear side of the coupling hole 232. The bearing 430 is interference-fitted in the fitting hole 233, and the screw is fitted in the bearing 430. Specifically, the outer ring of the bearing 430 is fixed in the fitting hole 233, and the screw is fixed to the inner ring of the bearing 430. When the output flange 300 rotates by receiving an external impact force, the screw (bolt 302) rotates along with the output flange 300 and drives the inner ring of the bearing 430 to rotate. Thereby make output flange 300 can not drive output end cover 230 and rotate, also can not make the screw member (bolt 302) become flexible, guaranteed that the screw member (bolt 302) can be fixed output flange 300 on output end cover 230 always, increased motor 1000's stability.
A legged robot 500 according to an embodiment of the present invention is described below with reference to the drawings.
As shown in fig. 6, a legged robot 500 according to an embodiment of the present invention includes a torso assembly 510 and a plurality of leg assemblies 520. A plurality of leg assemblies 520 are coupled to the torso assembly 510, and a motor 1000 is disposed on the torso assembly 510 and/or the leg assemblies 520, wherein the motor 1000 is a motor 1000 according to an embodiment of the utility model. In the embodiment shown in fig. 6, there are four leg assemblies 520, and thus, the legged robot 500 is referred to as a quadruped robot.
The motor 1000 provided on the torso unit 510 and/or the leg unit 520 includes: a. the body assembly 510 is provided with a motor 1000; b. a motor 1000 is arranged on the leg assembly 520; c. the torso assembly 510 and the leg assembly 520 are each provided with a motor 1000.
In some embodiments, the motor 1000 is disposed on the torso assembly 510, and the leg assembly 520 includes a thigh 521. The body assembly 510 is connected with the thigh 521 through a motor 1000, and the motor 1000 is used for driving the thigh 521 to swing. For example, the housing 100 (movement 200) of the motor 1000 is disposed on the body assembly 510, and the output flange 300 of the motor 1000 is connected to the upper leg 521 for driving the upper leg 521 to swing. Thereby being convenient for the foot robot 500 to move, and enabling the foot robot 500 to have the advantages of high strength, difficult damage, long service life and low noise.
In some embodiments, a motor 1000 is provided on leg assembly 520, and leg assembly 520 further includes a lower leg 522. The thigh 521 is connected with the shank 522 through a motor 1000, and the motor 1000 is used for driving the shank 522 to swing. For example, the housing 100 (movement 200) of the motor 1000 is disposed on the upper leg 521, and the output flange 300 of the motor 1000 is connected to the lower leg 522 for driving the lower leg 522 to swing. Thereby being convenient for the foot robot 500 to move and enabling the foot robot 500 to have the advantages of high strength, difficult damage, long service life and low noise.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. An electric machine, comprising:
a housing;
the machine core comprises a stator, a rotor and an output end cover, wherein the stator and the rotor are arranged in the machine shell, the output end cover is arranged on the machine shell, the rotor can pivot relative to the stator, the rotor is coaxially connected with the output end cover, and an installation groove is formed in the output end cover;
the output flange is connected with the output end cover and arranged in the mounting groove; and
the buffer piece is clamped between the output flange and the output end cover and used for separating the output flange from the output end cover.
2. The electric machine of claim 1, wherein the buffer comprises a belt, the belt is disposed in the mounting groove, the belt is radially sandwiched between the output flange and the output end cap, and the output flange is connected to the output end cap through the belt.
3. The electric machine of claim 2, wherein the buffer further comprises a resilient pad sandwiched between the output flange and the output end cap in an axial direction of the output flange.
4. The motor of claim 3, wherein the inner side wall of the belt is extended to form a limiting protrusion, the side wall of the output flange is provided with a first limiting groove, and the limiting protrusion is fitted in the corresponding first limiting groove.
5. The motor of claim 4, wherein the number of the limiting protrusions is multiple, and the limiting protrusions are distributed at intervals along the circumferential direction of the belt.
6. The motor of claim 4, wherein the limiting protrusion extends along the width direction of the belt, two ends of the limiting protrusion are flush with two ends of the belt in the width direction respectively, and the first limiting groove penetrates through the output flange along the axial direction of the output flange.
7. The motor of claim 4, wherein the side wall of the elastic pad is attached to the inner side wall of the belt, the side wall of the elastic pad is provided with a second limiting groove, and the limiting protrusion is matched in the second limiting groove.
8. The motor of claim 1, further comprising a screw member, wherein a connection hole is formed on a bottom surface of the mounting groove, a threaded hole is formed on the output flange, and the screw member passes through the connection hole and is in threaded fit with the threaded hole, so that the output end cap is connected with the output flange.
9. The electric machine of claim 8, wherein the threaded member is a bolt.
10. The motor of claim 8, further comprising a bearing, wherein a fitting hole is coaxially formed at one end of the connecting hole, which is away from the mounting groove, the bearing is in interference fit in the fitting hole, and the threaded member is fitted in the bearing.
11. A legged robot comprising a trunk assembly and a plurality of leg assemblies, wherein a plurality of said leg assemblies are connected to said trunk assembly, and wherein a motor is provided on said trunk assembly and/or said leg assemblies, said motor being according to any one of claims 1 to 10.
12. The legged robot according to claim 11, wherein the body assembly is provided with the motor, the leg assembly includes a thigh, the body assembly and the thigh are connected by the motor, and the motor is used for driving the thigh to swing.
13. The legged robot according to claim 12, wherein the leg assembly is provided with the motor, the leg assembly further includes a lower leg, the upper leg is connected to the lower leg via the motor, and the motor is configured to drive the lower leg to swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121710831.XU CN216056641U (en) | 2021-07-26 | 2021-07-26 | Motor and foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121710831.XU CN216056641U (en) | 2021-07-26 | 2021-07-26 | Motor and foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216056641U true CN216056641U (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121710831.XU Active CN216056641U (en) | 2021-07-26 | 2021-07-26 | Motor and foot type robot |
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| Country | Link |
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| CN (1) | CN216056641U (en) |
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2021
- 2021-07-26 CN CN202121710831.XU patent/CN216056641U/en active Active
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Effective date of registration: 20231009 Address after: Room 602, 6th Floor, Building 5, Building 15, Kechuang 10th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing, 100176 Patentee after: Beijing Xiaomi Robot Technology Co.,Ltd. Address before: No.018, 8th floor, building 6, No.33 yard, middle Xierqi Road, Haidian District, Beijing 100085 Patentee before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. |