CN109421835B - Ground self-adaptive universal chassis and robot - Google Patents
Ground self-adaptive universal chassis and robot Download PDFInfo
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- CN109421835B CN109421835B CN201710751671.5A CN201710751671A CN109421835B CN 109421835 B CN109421835 B CN 109421835B CN 201710751671 A CN201710751671 A CN 201710751671A CN 109421835 B CN109421835 B CN 109421835B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
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Abstract
The invention provides a ground self-adaptive universal chassis and a robot, which belong to the technical field of robots and comprise a horizontal bottom plate, two driving wheels, two universal wheels, a rear bracket, a balance bar and a revolute pair, wherein the two driving wheels are respectively driven by two driving motors, the central connecting lines of the two universal wheels are mutually perpendicular to the central connecting lines of the two driving wheels, one universal wheel is connected with the horizontal bottom plate by the rear bracket, and the output shafts of the two driving motors and the other universal wheel are respectively in rotary connection with the balance bar, fixedly connected with the horizontal bottom plate and in rotary connection with the balance bar. The ground self-adaptive universal chassis provided by the invention has the ground self-adaptive capability, so that a robot adopting the chassis can stably pass through the ground of various bulges and pits, and the utilization space of the universal robot is greatly expanded.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a ground self-adaptive universal chassis and a robot with the chassis.
Background
The traditional general robot chassis mainly utilizes an elastic suspension system formed by elements such as spring damping and the like to improve the trafficability of the robot chassis, when encountering a ground bulge, the spring is compressed, and when encountering a pit, the spring is stretched, but the improvement effect of the mode on the chassis trafficability is limited, a relatively clear section is generally available for load, the suspension system has relatively complex shape selection design, and the practical application effect is general.
Disclosure of Invention
The invention aims to provide a ground self-adaptive universal chassis, which solves the technical problems of poor trafficability and poor bearing adaptability of the chassis in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: provided is a ground-adaptive universal chassis, comprising:
a horizontal bottom plate;
the two driving wheels are driven by two driving motors respectively;
the central connecting lines of the two universal wheels are perpendicular to the central connecting lines of the two driving wheels;
One of the universal wheels is connected with the horizontal bottom plate through the rear bracket;
The output shafts of the two driving motors and the other universal wheel are respectively in rotary connection with the balance rod;
and the rotating pair is fixedly connected with the horizontal bottom plate and is rotationally connected with the balance rod.
Further, the balancing pole is including being used for cladding two driving motor's motor cover and connect in the front end of motor cover just is used for connecting another the front bezel of universal wheel, two driving motor's output shaft outwards passes respectively the motor cover just with the motor cover rotates to be connected, the revolute pair with the motor cover rotates to be connected, the back rest, two driving motor the front bezel reaches the motor cover is in the same side of horizontal bottom plate, be provided with on the horizontal bottom plate and be used for two the universal wheel passes and can freely rotate the through-hole.
Further, the motor cover comprises two side plates and a bending plate connected between the two side plates, the output shafts of the two driving motors respectively penetrate through the side plates on the corresponding sides to be connected with the driving wheels, and the front plate is connected with the bending plate.
Further, the revolute pair comprises a connecting shaft and supporting seats rotationally connected to two ends of the connecting shaft, the two supporting seats are respectively connected with the horizontal bottom plate through bolts, and two ends of the connecting shaft respectively penetrate through the two supporting seats, the two side plates and the two side plates to be rotationally connected.
Further, the inner sides of the two side plates are respectively connected with an auxiliary plate which is rotationally connected with the output shaft of the driving motor.
Further, two side plates are respectively provided with a horizontal U-shaped groove used for enabling two ends of the connecting shaft to pass through in a rotating mode, and the axis of the horizontal U-shaped groove is parallel to the plane where the horizontal bottom plate is located.
Further, two vertical U-shaped grooves which are used for the output shaft of the driving motor to penetrate through and downwards open are respectively formed in the side plates, and the axis of each vertical U-shaped groove is perpendicular to the plane where the horizontal bottom plate is located.
Further, the two side plates, the bending plate and the front plate are integrally formed.
Further, the rear bracket comprises a horizontal supporting plate and four supporting feet which are used for being connected with the horizontal bottom plate, wherein one universal wheel is fixedly connected with the horizontal supporting plate.
The ground self-adaptive universal chassis provided by the invention has the beneficial effects that: compared with the prior art, the ground self-adaptive universal chassis disclosed by the invention has the advantages that the self-adaptive balance adjustment relation among the driving wheel, the universal wheel and the horizontal bottom plate is established by utilizing the balance rod and the rotary pair, so that four wheels with different functions have certain capability of automatically adapting to the ground height on different grounds, each wheel can be ensured to be uniformly landed, a robot adopting the chassis can stably pass through the grounds of various bulges and pits, the requirement on loads is not sensitive, the utilization space of the universal robot is greatly expanded, and the ground self-adaptive universal chassis can be directly applied to the fields of various mobile robots such as service robots, inspection robots, factory-used automatic trolleys and the like.
The invention also aims to provide a robot which comprises the ground self-adaptive universal chassis.
The robot provided by the invention has the beneficial effects that: due to the adoption of the chassis, the self-adaptive capacity of the robot for stably passing through various concave-convex ground surfaces is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a ground adaptive universal chassis according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a ground adaptive universal chassis according to a second embodiment of the present invention;
Fig. 3 is a schematic front view of a ground adaptive universal chassis according to an embodiment of the present invention;
FIG. 4 is a schematic view of the bottom structure of FIG. 3;
FIG. 5 is a schematic perspective view of a ground-adaptive universal chassis according to an embodiment of the present invention, with a driving wheel removed;
FIG. 6 is a schematic perspective view of a ground-adaptive universal chassis according to an embodiment of the present invention with a horizontal bottom plate removed;
FIG. 7 is a schematic perspective view of a ground adaptive universal chassis according to an embodiment of the present invention, with a horizontal bottom plate and a balance bar removed;
FIG. 8 is a schematic perspective view of a ground adaptive universal chassis according to an embodiment of the present invention, with a horizontal bottom plate, a balance bar and two driving wheels removed;
fig. 9 is a schematic diagram of a three-dimensional structure of a ground adaptive universal chassis according to an embodiment of the present invention, with a horizontal bottom plate, a balance bar, and two driving wheels removed;
fig. 10 is a schematic diagram of a three-dimensional structure of a ground adaptive universal chassis according to an embodiment of the present invention, with a horizontal bottom plate removed, two driving wheels, and a driving motor;
FIG. 11 is a schematic diagram showing a perspective view of a ground adaptive universal chassis according to an embodiment of the present invention, with a horizontal bottom plate removed, two driving wheels, and a driving motor;
Fig. 12 is a schematic structural diagram of a middle balance bar of a ground adaptive universal chassis according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a middle horizontal bottom plate of the ground adaptive universal chassis according to an embodiment of the present invention;
Fig. 14 is a schematic structural diagram of a middle rotating pair of a ground adaptive universal chassis according to an embodiment of the present invention;
Fig. 15 is a schematic structural diagram of a ground adaptive universal chassis according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
1-a horizontal bottom plate; 2-a rear bracket; 21-a horizontal support plate; 22-supporting legs; 3-balancing bars; 31-bending the plate; 32-side plates; 33-front plate; 34-a horizontal U-shaped groove; 35-a vertical U-shaped groove; 4-driving a motor; 5-driving wheels; 6-universal wheels; 7-through holes; 8-a revolute pair; 81-an auxiliary plate; 82-a support base; 83-connecting shaft.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 to fig. 4 and fig. 15, a description will be given of a ground adaptive universal chassis according to the present invention. The ground self-adaptive universal chassis and the horizontal bottom plate 1;
two driving wheels 5 driven by two driving motors 4, respectively;
The central connecting lines of the two universal wheels 6 are perpendicular to the central connecting lines of the two driving wheels 5;
A rear bracket 2, wherein one universal wheel 6 is connected with the horizontal bottom plate 1 through the rear bracket 2;
the balance bar 3, the output shafts of the two driving motors 4 and the other universal wheel 6 are respectively in rotary connection with the balance bar 3;
The rotating pair 8 is fixedly connected with the horizontal bottom plate 1 and is rotationally connected with the balance rod 3.
Compared with the prior art, the ground self-adaptive universal chassis provided by the invention utilizes the balance rod 3 and the revolute pair 8 to establish the self-adaptive balance adjustment relation among the driving wheel 5, the universal wheel 6 and the horizontal bottom plate 1, so that four wheels with different functions have certain capability of automatically adapting to the ground height on different grounds, each wheel can be ensured to be uniformly landed, a robot adopting the chassis can stably pass through the ground of various bulges and pits, the requirement on load is not sensitive, the utilization space of the universal robot is greatly expanded, and the ground self-adaptive universal chassis can be directly applied to the fields of service robots, inspection robots, factory-used automatic trolleys and other various mobile robots.
Further, referring to fig. 1 to 4 and fig. 13, as a specific embodiment of the ground adaptive universal chassis provided by the present invention, the balance bar 3 includes a motor cover for covering two driving motors 4 and a front plate 33 connected to the front end of the motor cover and used for connecting another universal wheel 6, the output shafts of the two driving motors 4 respectively pass through the motor cover outwards and are rotatably connected with the motor cover, the revolute pair 8 is rotatably connected with the motor cover, the rear bracket 2, the two driving motors 4, the front plate 33 and the motor cover are all located on the same side of the horizontal bottom plate 1, and a through hole 7 for the two universal wheels 6 to pass through and can freely rotate is provided on the horizontal bottom plate 1. In this embodiment, the balance bar 3 combines two driving wheels 5 and one universal wheel 6 into one balance body, which is connected to the horizontal base plate 1 by the revolute pair 8, and the other universal wheel 6 and the horizontal base plate 1 form one balance body. When the chassis passes through the raised ground, the universal wheel 6 connected with the front plate 33 is firstly contacted with the raised ground and lifted up along with the rotation of the rotary pair 8, at the moment, the driving wheel 5 is still contacted with the ground to push the whole chassis to advance, when the chassis advances from the raised ground to the concave ground, the universal wheel 6 connected with the front plate 33 moves downwards along with the ground, and the rotary pair 8 acts on the ground, at the moment, the driving wheel 5 is rotationally adjusted to adapt to the ground, and can still contact with the ground to drive the whole chassis to advance, so that the chassis can continue to advance.
It is explained here that the individual parts of the balancing lever 3 and the four wheels are not in contact with the horizontal base plate 1, wherein an adaptive adjustment gap is reserved between the balancing lever 3 and the horizontal base plate 1 to ensure that the wheels have an adjustable capacity for adapting to a rough ground, wherein the reserved gap is clearly visible in fig. 5.
Further, referring to fig. 5 and fig. 10 to fig. 12, as a specific embodiment of the ground-adaptive universal chassis provided by the present invention, the motor cover includes two side plates 32 and a bending plate 31 connected between the two side plates 32, the output shafts of the two driving motors 4 respectively pass through the side plates 32 on the corresponding sides and are connected to the driving wheel 5, and the front plate 33 is connected to the bending plate 31. Wherein, two driving motor 4 are located in the motor cover and reserve the regulation clearance with horizontal bottom plate 1 between, can rotate along with the rotation of motor cover to cooperate driving wheel 5 with unsmooth ground and adjust.
Further, referring to fig. 5 to 6, as a specific embodiment of the ground adaptive universal chassis provided by the present invention, the rotation pair 8 includes a connection shaft 83 and support bases 82 rotatably connected to two ends of the connection shaft 83, the two support bases 82 are respectively connected to the horizontal bottom plate 1 by bolts, and two ends of the connection shaft 83 respectively pass through the two support bases 82 and the two side plates 32 and are rotatably connected to the two side plates 32. In this embodiment, the revolute pair 8 enables the balance bar 3 and the horizontal base plate 1 to have a mutual rotary action to achieve the capability of adapting to the ground. The support base 82 is preferably a bearing base, and a bearing is installed in the bearing base, so that the connecting shaft 83 can flexibly rotate. In which the mounting position of the rotary pair 8 in the chassis is shown in fig. 7 to 11.
Further, referring to fig. 6 and 14, as a specific embodiment of the ground-adaptive universal chassis provided by the present invention, the inner sides of the two side plates 32 are respectively connected with an auxiliary plate 81 rotatably connected with the output shaft of the driving motor 4. In this embodiment, the auxiliary plate 81 and the side plate 32 are connected by bolts, a gap is left between the auxiliary plate 81 and the above-mentioned supporting seat 82 to facilitate the rotation of the balance bar 3 to adapt to the ground, and a gap is left between the auxiliary plate 81 and the horizontal bottom plate 1, wherein a schematic diagram of the structure of the rotary pair 8 is shown separately in fig. 14, so that the gap between the auxiliary plate 81 and the supporting seat 82 can be clearly seen.
Further, referring to fig. 5 and fig. 10 to 12, as a specific embodiment of the ground-adaptive universal chassis provided by the present invention, two side plates 32 are respectively provided with a horizontal U-shaped groove 34 for passing through two ends of the connecting shaft 83, and an axis of the horizontal U-shaped groove 34 is parallel to a plane where the horizontal bottom plate 1 is located. In this embodiment, two side plates 32, a bending plate 31 and a front plate 33 form a balance bar 3, two driving wheels 5 and a universal wheel 6 are combined into a balance body, the balance body is rotationally connected with a horizontal bottom plate 1 through a connecting shaft 83, and the rear end of the horizontal bottom plate 1 is connected with the other universal wheel 6, so that a new balance system is formed. When the chassis passes through the raised ground in the forward direction, the universal wheel 6 connected to the front plate 33 reacts first, the front end of the balance bar 3 is lifted, the two driving wheels 5 are still in contact with the ground, the chassis is pushed to advance, and other processes are the same as the principle of the process and are not repeated.
Further, referring to fig. 5 and fig. 10 to 12, as a specific embodiment of the ground adaptive universal chassis provided by the present invention, two side plates 32 are respectively provided with a vertical U-shaped groove 35 for the output shaft of the driving motor 4 to pass through and open downward, and the axis of the vertical U-shaped groove 35 is perpendicular to the plane where the horizontal bottom plate 1 is located. The vertical U-shaped groove 35 enables the two driving wheels 5 to have a certain degree of freedom in the vertical direction, and when the two driving wheels pass through uneven ground, the vertical U-shaped groove 35 enables the output shaft to have a certain adjusting capability in the up-down direction, namely the driving wheels 5 on two sides can not be in the same horizontal plane, can adapt to the high-low topography on two sides and still contact with the ground, and drives the chassis to move forwards. Therefore, when encountering different ground patterns, the four wheels can be positioned at the optimal positions with different heights, so that when passing through various ground patterns, the balance rod 3 can make different posture changes, thereby ensuring continuous contact between the driving wheel 5 and the ground and smooth passing.
In this embodiment, the two side plates 32, the bending plate 31 and the front plate 33 are integrally formed, which is convenient for manufacturing and assembling.
Further, referring to fig. 5, as a specific embodiment of the ground adaptive universal chassis provided by the present invention, the horizontal plane where the central connecting lines of the two universal wheels 6 are located is not coincident with the horizontal plane where the central connecting lines of the two driving wheels 5 are located. Simultaneously, the two universal wheels 6 and the two driving wheels 5 are symmetrically distributed by taking the central connecting line of each other as a symmetrical axis.
Further, referring to fig. 3, 6,8 and 11, as a specific embodiment of the ground-adaptive universal chassis provided by the present invention, the rear bracket 2 includes a horizontal support plate 21 and four supporting legs 22 for connecting with the horizontal base plate 1, wherein one of the universal wheels 6 is fixedly connected with the horizontal support plate 21. Wherein the front plate 33 is in the same horizontal plane as the horizontal support plate 21 and parallel to the horizontal base plate 1 so that the horizontal base plate 1 can be smoothed when the four wheels are on the horizontal ground.
In the embodiment, the balance bar can be provided with a rotation position in the middle and upper and lower ranges of the balance bar, and the rotation position can be fixed with the horizontal bottom plate upwards or fixed with the horizontal bottom plate downwards, which is not limited to the embodiment.
In this embodiment, the universal wheel fixed to the horizontal bottom plate may be replaced by a balance frame formed by a cross beam and two universal wheels, or other realizable modes, which are not limited to the embodiments.
The invention also provides a robot comprising a ground-adaptive universal chassis as described in any one of the above.
The robot provided by the invention adopts the chassis and adopts the mode of combining the balance bars in different directions, so that the adaptability of the universal robot chassis to different floors is greatly improved, the current situation that the conventional universal robot chassis has poor floor adaptability is changed, the structure is simple, the manufacturing cost is greatly saved for the same type universal chassis achieving the approaching effect at present, and the effect is obviously improved.
In a specific embodiment, the chassis provided in this embodiment is also applied to the field of mobile robots such as service robots, inspection robots, and factory automation carts.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. Ground self-adaptation general chassis, its characterized in that includes:
a horizontal bottom plate;
the two driving wheels are driven by two driving motors respectively;
the central connecting lines of the two universal wheels are perpendicular to the central connecting lines of the two driving wheels;
One of the universal wheels is connected with the horizontal bottom plate through the rear bracket;
The output shafts of the two driving motors and the other universal wheel are respectively in rotary connection with the balance rod;
the rotating pair is fixedly connected with the horizontal bottom plate and is rotationally connected with the balance rod;
The balance rod comprises a motor cover used for covering two driving motors and a front plate connected to the front end of the motor cover and used for connecting another universal wheel, output shafts of the two driving motors respectively penetrate through the motor cover outwards and are in rotary connection with the motor cover, the rotating pair is in rotary connection with the motor cover, the rear bracket, the two driving motors, the front plate and the motor cover are all positioned on the same side of the horizontal bottom plate, and through holes used for the two universal wheels to penetrate through and can freely rotate are formed in the horizontal bottom plate;
The motor cover comprises two side plates and a bending plate connected between the two side plates, the output shafts of the two driving motors respectively penetrate through the side plates on the corresponding sides to be connected with the driving wheels, and the front plate is connected with the bending plate; wherein, the two driving motors are positioned in the motor cover, and an adjusting gap is reserved between the two driving motors and the horizontal bottom plate;
the rear bracket comprises a horizontal supporting plate and four supporting feet which are used for being connected with the horizontal bottom plate, wherein one universal wheel is fixedly connected with the horizontal supporting plate.
2. The ground-adaptive universal chassis of claim 1, wherein: the revolute pair comprises a connecting shaft and supporting seats which are rotationally connected to two ends of the connecting shaft, the two supporting seats are respectively connected with the horizontal bottom plate through bolts, and two ends of the connecting shaft respectively penetrate through the two supporting seats and the two side plates and are rotationally connected with the two side plates.
3. The ground-adaptive universal chassis of claim 2, wherein: and the inner sides of the two side plates are respectively connected with an auxiliary plate which is rotationally connected with the output shaft of the driving motor.
4. The ground-adaptive universal chassis of claim 2, wherein: the two side plates are respectively provided with a horizontal U-shaped groove used for enabling two ends of the connecting shaft to pass through in a rotating mode, and the axis of the horizontal U-shaped groove is parallel to the plane where the horizontal bottom plate is located.
5. The ground-adaptive universal chassis of claim 1, wherein: the two side plates are respectively provided with a vertical U-shaped groove which is used for the output shaft of the driving motor to pass through and is downwards opened, and the axis of the vertical U-shaped groove is perpendicular to the plane where the horizontal bottom plate is located.
6. The ground-adaptive universal chassis of claim 1, wherein: the two side plates, the bending plate and the front plate are integrally formed.
7. Robot, its characterized in that: comprising a ground-adaptive universal chassis according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751671.5A CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751671.5A CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
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| Publication Number | Publication Date |
|---|---|
| CN109421835A CN109421835A (en) | 2019-03-05 |
| CN109421835B true CN109421835B (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710751671.5A Active CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN207360451U (en) * | 2017-08-28 | 2018-05-15 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19608643C1 (en) * | 1996-03-06 | 1997-05-28 | Weirich Hans Joachim | Transportation trolley with running gear |
| US6951259B2 (en) * | 1998-12-03 | 2005-10-04 | Koji Irikura | Multi-wheel vehicle |
| CN201484100U (en) * | 2009-09-24 | 2010-05-26 | 浙江大学 | Uniform landing device for robot car body |
| CN107614365B (en) * | 2015-02-01 | 2020-07-14 | 詹尼斯机器人移动技术加拿大公司 | Mobile platform |
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
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2017
- 2017-08-28 CN CN201710751671.5A patent/CN109421835B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN207360451U (en) * | 2017-08-28 | 2018-05-15 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
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