CN207955839U - A kind of lifting steering mechanism and agricultural robot mobile platform - Google Patents
A kind of lifting steering mechanism and agricultural robot mobile platform Download PDFInfo
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- CN207955839U CN207955839U CN201820043538.4U CN201820043538U CN207955839U CN 207955839 U CN207955839 U CN 207955839U CN 201820043538 U CN201820043538 U CN 201820043538U CN 207955839 U CN207955839 U CN 207955839U
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- lead screw
- driver
- tumbler
- sliding sleeve
- steering mechanism
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Abstract
The utility model discloses a kind of lifting steering mechanism and agricultural robot mobile platforms, including lead screw, sliding sleeve, tumbler, the first driver and the second driver；The sliding sleeve is sheathed on the lead screw and coordinates with the wire rod thread, and the lead screw is sequentially connected with first driver；The tumbler can drive the sliding sleeve to be rotated around the lead screw, and when first driver drives the lead screw rotation, the tumbler can limit described slide over and circumferentially rotate, and the tumbler is sequentially connected with second driver.Height is adjusted and is turned to adjusting and is combined by the lifting steering mechanism of the utility model and agricultural robot mobile platform, and stationarity is higher, and independence is good.
Description
Technical field
The utility model belongs to robot chassis technology field, and in particular to a kind of lifting steering mechanism and farming machine
People's mobile platform.
Background technology
German company Bosch develops a kind of weed-eradicating robot, and the carried motion platform of the robot has self-balancing work(
Can, Self-balancing is realized by height adjustment mechanism.Height adjustment mechanism includes parallel four-bar linkage and hydraulic cylinder, vehicle
Wheel assembly and a connecting rod are affixed, and by Driven by Hydraulic Cylinder link motion, wheel up and down adjustment adapts to ground, ensures platform water
It is flat.
Document《Agricultural Robotic Platform with Four Wheel Steering for Weed
Detection》, describe a kind of agriculture weed-eradicating robot motion platform of four-wheel steering.The robot movement platform is by watching
It takes motor to be turned to, be driven by brushless hub electric motor；Platform four-wheel independent steering, four motorized wheels improve
The mobility of platform makes vehicle the adjustment of position and direction with translation, can be made to adapt in turning.But the robot
Motion platform does not have terrain self-adaptive mechanism, faces roughness pavement, and stationarity is poor.
Chinese patent literature CN104782326A is disclosed " reading intelligent agriculture robot moving platform ", including four-wheel rear-guard moves
Moving platform and embedded control system.The four-wheel rear-guard mobile platform include carrier compartment, rear-guard walking mechanism, preposition turn
To mechanism and front end grasping mechanism.The drive motion of the robot moving platform drives chain-drive mechanism come real by servo motor
Existing, divertical motion drives tape handler to realize by servo motor, and complicated, control accuracy is poor.In addition, the robot
Mobile platform lacks corresponding landform adaptive mechanism, and adaptability and stability are poor under unstructuredness environment.
Utility model content
The purpose of this utility model is that for existing agricultural robot platform when in face of the road surface of out-of-flatness, adapt to
Property is poor, stationarity is poor and the problem of control accuracy difference, provides a kind of lifting steering mechanism and agricultural robot mobile platform,
By the lifting steering mechanism, agricultural robot is enabled to face unstructured landform in the process of moving, as risen and fallen
Road surface, slope, boss and raceway groove etc. have good environmental suitability, keep the stationarity of platform.
To achieve the goals above, the technical solution adopted in the utility model is：
A kind of lifting steering mechanism, including lead screw, sliding sleeve, tumbler, the first driver and the second driver；The sliding sleeve
It is sheathed on the lead screw and coordinates with the wire rod thread, the lead screw is sequentially connected with first driver；Described turns
The sliding sleeve can be driven to be rotated around the lead screw to part, when first driver drives lead screw rotation described in turn
Described slide over can be limited to part to circumferentially rotate, the tumbler is sequentially connected with second driver.
Further, second driver is using the driving that can carry out locking to tumbler under non-driven state
Device.
Further, the tumbler use sleeve structure, the tumbler be sheathed on the lead screw and with the lead screw
Using coaxial arrangement.
Further, first driver is using the driving that can carry out locking to the lead screw under non-driven state
Device, first driver are fixedly attached to the shaft end of tumbler.
Further, spline fitted is used between the tumbler and described sleeve pipe.
Further, the tumbler and the sliding sleeve are by the way of external toothing.
Further, the lead screw uses the screw-thread fit with self-locking function with the sliding sleeve.
The utility model also provides a kind of agricultural robot mobile platform, including the lifting steering mechanism, further includes
Platform and walking mechanism, along the lead screw, axial, the described lead screw is fixedly connected with the platform；The sliding sleeve and the vehicle with walking machine
Structure connects, and can be turned to by sliding sleeve and the walking mechanism is driven to turn to.
Further, further include pavement state detection system and control system, the pavement state detection system is for visiting
Survey the pavement state information that will pass through of agricultural robot mobile platform, the pavement state detection system, the first driver, the
Two drivers are connect with control system respectively, the pavement state that the control system is used to be detected according to pavement state detection system
Information adjusts first driver and/or the second driver.
The utility model also provides another lifting steering mechanism, including lead screw, sliding sleeve, tumbler, the first driver
With the second driver；The sliding sleeve is sheathed on the lead screw and coordinates with the wire rod thread, and the sliding sleeve drives with described first
Dynamic device is sequentially connected；The tumbler can drive the lead screw to rotate, and the sliding sleeve rotation is driven in first driver
Shi Suoshu tumblers can limit the lead screw and circumferentially rotate, and the tumbler is sequentially connected with second driver.
The lifting steering mechanism of the utility model, also with turning function while with elevating function, integrated level is high, ties
Structure is compact, simple, does not influence to turn to when completing lifting by the cooperation of lead screw and sliding sleeve when lifting, and lift, when steering
Complete to turn to by the cooperation of lead screw or sliding sleeve and tumbler, influence small on lifting when steering or even do not influence so that lifting with
Turning to has better independence；
The agricultural robot mobile platform of the utility model uses highly integrated lifting steering mechanism as platform
Height adjustment mechanism, control accuracy is high, also with turning function while lifting steering mechanism is adjusted with height so that structure
It is upper compacter, simple；
The agricultural robot mobile platform of the utility model is directed to unstructured landform, such as rises during capable of moving
Situations such as road surface of volt, slope, boss and raceway groove, realizes that the height of platform is adjusted or turned to by lifting steering mechanism, so that
The agricultural robot on platform, which must be configured, can smoothly carry out agricultural working, with good environmental suitability and steadily
Property.
Description of the drawings
Fig. 1 is the structural schematic diagram of the agricultural robot mobile platform of the utility model；
Fig. 2 is a kind of front view of the lifting steering mechanism of embodiment of the utility model；
Fig. 3 is the sectional view along A-A of Fig. 2；
Fig. 4 is the B-B direction sectional view of Fig. 2；
Fig. 5 is the front view of the lifting steering mechanism of the another embodiment of the utility model.
Reference numeral：
100- platforms, 200- accumulators, 300- lift steering mechanism, 400- walking mechanisms, 301- sliding sleeves, 302- steerings
Part, 303- lead screws, 304- worm gears, 305- worm gear reducers, the first drivers of 306-, 307- worm screws, the second drivers of 308-,
401- tires, 402- wheel shafts, 403- wheel hub motors, 404- dampings fork.
Specific implementation mode
Such as Fig. 1, the agricultural robot mobile platform of the utility model, including platform 100, walking mechanism 400 and lifting turn
To mechanism 300, the configuration of lifting steering mechanism 300 can adjust between platform 100 and walking mechanism 400 according to surface conditions
The height of platform 100 and ground so that platform 100 can held stationary, while lift steering mechanism 300 can also realize turn
To being combined to which the height of platform 100 is adjusted the steering when platform 100 moves so that compacter in structure, simple
It is single, it is easy to control.Agriculturally some common function modules, such as fertilising, sprinkling irrigation etc. can be configured on platform 100, realize agriculture
The moving operation of industry robot provides stable workbench 100 for the work of agricultural robot.
As in Figure 2-4, lifting steering mechanism 300 is realized in：Including lead screw 303, sliding sleeve 301 and tumbler
302, the sliding sleeve 301 be sheathed on the lead screw 303 and with 303 screw-thread fit of lead screw, the lead screw 303, which is connected with, to be driven
The first driver 306 that lead screw 303 rotates, along lead screw 303, axial, lead screw 303 is fixedly connected with the platform 100；Described
Tumbler 302 can drive sliding sleeve 301 to be rotated around lead screw 303, the sliding sleeve when the first driver 306 driving lead screw 303 rotates
301 can limit sliding sleeve 301 and circumferentially rotate along the axial movement of tumbler 302, tumbler 302, and tumbler 302 is connected with
The second driver 308 that tumbler 302 can be driven to rotate；Sliding sleeve 301 connect and can lead to the walking mechanism 400
Cross the steering that walking mechanism 400 is realized in the rotation of sliding sleeve 301.
When needing to realize that the height of platform 100 is adjusted, under the action of the first driver 306,303 turns of lead screw is driven
Dynamic, since tumbler 302 can drive sliding sleeve 301 to be rotated around lead screw 303, such structure is simultaneously also to sliding sleeve 301 with regard to shape
At the limit of a circumferential direction, when lead screw 303 rotates, sliding sleeve 301 is under the position-limiting action of tumbler 302, sliding sleeve 301
Moving along 303 axial direction of lead screw can be realized, when sliding sleeve 301 is moved towards 303 upper mounting plate of lead screw, 100 connecting pin, you can band
It the walking mechanism 400 being connected with sliding sleeve 301 and also connect one end movement toward 303 upper mounting plate 100 of lead screw, shorten platform in this way
Spacing between 100 and walking mechanism 400, to turn down the height of platform 100；On the contrary, when sliding sleeve 301 is another along lead screw 303
When outer one end movement, you can also moved toward one end far from platform 100 with walking mechanism 400, extended platform 100 in this way
With the spacing between walking mechanism 400, to which the height of platform 100 is turned up.
When needing to realize steering of the platform 100 in moving process or under stationary state, then in the second driver 308
Under effect, tumbler 302 is driven to rotate, tumbler 302 then drives sliding sleeve 301 to be rotated around lead screw 303 while rotation, and slides
Set 301 is directly connect with walking mechanism 400, and such sliding sleeve 301 rotates how many angle, then walking mechanism 400 can rotate how much
Angle, to realize the steering of platform 100.
In the utility model, by the way that tumbler 302, lead screw 303 and 301 three of sliding sleeve to be combined, and sliding sleeve 301 is made
For intermediate transfer component, will height adjust with turn to adjusting carried out it is good merge, pass through matching for lead screw 303 and sliding sleeve 301
The cooperation used time can realize the adjusting of 100 height of platform by the lifting of sliding sleeve 301, and tumbler 302 is needed to make among these
Sliding sleeve 301 is limited for limiting component in circumferential rotation；By the mating reaction of tumbler 302 and sliding sleeve 301, can pass through
Sliding sleeve 301 rotates to realize the steering of walking mechanism 400, and needs the support of shaft centered on lead screw 303 among these
Carrier function.Therefore, three is indispensable, and by the mutual cooperation of three, adjusting is adjusted and turn to realize height
It is difunctional.
For the structure of tumbler 302, the utility model provides a kind of specific implementation mode, and tumbler 302 is casing knot
Structure, and tumbler 302 is sheathed on lead screw 303, and tumbler 302 is coaxial arrangement with lead screw 303, and sliding sleeve 301 is just then
In cavity between tumbler 302 and lead screw 303, sliding sleeve 301 is also the relationship being coaxially disposed with lead screw 303 so that San Zhedou
It is on same axis, so that sliding sleeve 301 either lifts in the cavity between tumbler 302 and lead screw 303
Divertical motion is still done in movement, can keep preferable stability.
Certainly, the structure of tumbler 302 can also be using with by the way of 301 external toothing of sliding sleeve, and such structure also can
It realizes and it is circumferentially limited when sliding sleeve 301 lifts, while sliding sleeve 301 can be driven to turn to when sliding sleeve 301 turns to again.This practicality
Novel 302 structure of tumbler is not limited to above two structure type.
Matching relationship between tumbler 302 and sliding sleeve 301, the utility model are sleeve structure for tumbler 302
Form is connected using spline between tumbler 302 and casing, splined mode is adopted, between tumbler 302 and casing
It is more uniformly stressed, transmission is also more steady.
Further, the first driver 306 is configured in the shaft end of tumbler 302, and in tumbler 302 to be fixedly connected
Mode be connected, when tumbler 302 by the second driver 308 drive its rotation when, the first driver 306 also can be with steering
Part 302 synchronously rotates, while the first driver 306 is using the drive that can carry out locking to lead screw 303 under non-driven state
Dynamic device so that when tumbler 302 and the first driver 306 rotate, lead screw 303 can also drive with tumbler 302, first
Device 306 synchronously rotates.When carrying out turning to adjusting, the second driver 308 drives tumbler 302 to surround 303 turns of lead screw
Dynamic, tumbler 302 drives sliding sleeve 301 to be rotated around lead screw 303, to which the walking mechanism 400 that driving is connect with sliding sleeve 301 rotates
And realize and turn to, lead screw 303 and tumbler 302 are to rotate synchronously so that tumbler 302, sliding sleeve 301 and lead screw 303 this three
Person is also to rotate synchronously, due to being rotated synchronously between sliding sleeve 301 and lead screw 303 without relatively rotating so that sliding sleeve 301 exists
The axial direction of lead screw 303 is just without relative displacement, and therefore, sliding sleeve 301 would not form elevating movement when turning to, from
And make divertical motion and the elevating movement for adjusting height mutual indepedent.
If the relationship that the first driver 306 is not fixedly connected with tumbler 302, turn in the driving of the second driver 308
When steering to part 302, tumbler 302 drives sliding sleeve 301 to be rotated around lead screw 303, if the rotational angle of sliding sleeve 301 is
90 °, then sliding sleeve 301 rotates 90 ° around lead screw 303, sliding sleeve 301 then can be in the axial movement a quarter screw pitch of lead screw 303
Position, the spacing of such platform 100 and walking mechanism 400 then has small variation, although also completing steering,
Certain influence is produced to 100 height of platform, by further using tumbler 302 and the first driver described above
306 structures being fixedly connected can eliminate the displacement well, keep turning to the independence for adjusting and adjusting with height.
It has been investigated that when sliding sleeve 301 and the screw-thread fit of lead screw 303 typically use state on vertical direction, this
Pressure effect of the meeting of sample sliding sleeve 301 due to gravity or after carrying agricultural robot function module on platform 100, non-
Under adjustment state, sliding sleeve 301 can be in this way difficult to along lead screw 303 in the displacement axially with certain distance to platform 100 and row
Distance forms locking between walking mechanism 400.In order to solve this problem, the lead screw 303 of the utility model and sliding sleeve 301 using
Screw-thread fit with self-locking function, such as trapezoidal thread fit system, when height is adjusted, lead screw 303 can be by trapezoidal
Screw thread drives sliding sleeve 301 to be slided along lead screw 303, and under non-height adjustment state, with regard to shape between sliding sleeve 301 and lead screw 303
At self-locking, in this way can to platform 100 and walking mechanism 400 will be between the two after adjusting height at a distance from formed and lock.
Walking mechanism 400 is that the function module of locomotive function can be realized with moving platform 100, in the present embodiment, vehicle with walking machine
Structure 400 includes tire 401, wheel shaft 402 and wheel hub motor 403, and wherein one end of the sliding sleeve 301 is connected with damping fork 404,
The fork of damping fork 404 is connected to the both ends of wheel shaft 402.It is embedded in the mechanism in tire 401 by wheel hub motor 403, to
Directly driving for tire 401 may be implemented, it is compacter in structure, and can each walking mechanism 400 be operated alone, logical
When crossing the road surfaces such as bend, control is also more convenient, and damping fork 404 then has damping effect, enables to walking mechanism 400, very
Damping effect to entire agricultural robot mobile platform is more preferable, and stationarity can also significantly improve.Sliding sleeve 301 is pitched by damping
404 are directly connected on wheel shaft 402, can will include damping fork 404, wheel shaft 402, wheel hub motor when carrying out height adjustment
403 and tire 401 including entire walking mechanism 400 move integrally, realize height adjust；And when needing to turn to, also can
It is enough to be turned to by sliding sleeve 301 to drive entire walking mechanism 400 to turn to.Certainly, the walking mechanism 400 of the utility model can also
Using conventional tyre 401, idler wheel and other wheels that can be walked.
The utility model provides the drive connection specific implementation mode of the second driver 308 and tumbler 302, technical side
What case was realized in：It is arranged with worm gear reducer 305 on the excircle of tumbler 302, phase is provided in worm gear reducer 305
The worm gear 304 mutually engaged and worm screw 307, the worm gear 304 and the coaxial fixed setting of tumbler 302, worm screw 307 and described the
Two drivers 308 connect.Second driver 308 output power is transferred to by worm screw 307 on worm gear 304, and worm gear 304 drives again
Tumbler 302 rotates, and realizes and turns to adjusting, simple in structure, compact, stable drive.
The first driver 306 and the second driver 308 in the utility model are all made of motor to realize, naturally it is also possible to
The driver of rotational power can be exported using other, further, in order to ensure that it is mutual only with height adjusting that steering is adjusted
What vertical property, the first driver 306 and the second driver 308 were all made of is the motor of strap brake braking, naturally it is also possible to be selected general
Then three-way motor configures other brakings or position-limit mechanism to realize corresponding braking or limit function, does not do excessively repeat herein.
Further, agricultural robot mobile platform further includes pavement state detection system and control system, the road surface
State detection system is for detecting the pavement state information that agricultural robot mobile platform will pass through, the pavement state detection
System, the first driver 306, the second driver 308 are connect with control system respectively, and the control system is used for according to road surface shape
The pavement state information of state detection system detection adjusts first driver 306 and/or the second driver 308.Pass through road
Surface state detection system can detect pavement state information in advance, such as the road surface of front is to go up a slope, i.e., by the road of the upward slope
Surface state information feeds back to control system, and control system can then control corresponding lifting steering mechanism 300 and carry out reducing platform 100
The height of height is adjusted, and such agricultural robot mobile platform is when going up a slope, then the case where being not in inclination, 100 meeting of platform
Always it is in horizontality, ensures its stationarity.In general, four lifting steering mechanism are respectively configured in agricultural robot mobile platform
300, each steering mechanism 300 that lifts independently controls, and when going up a slope, two lifting steering mechanism positioned at front are adjusted
300, original height is adjusted back when returning on level road, then by height, control is simple, and conveniently.
Agricultural robot mobile platform is also configured with accumulator 200, to consumptions such as the first driver 306, the second drivers 308
Energy mechanism is powered, and ensures that agricultural robot mobile platform persistently moves.
Referring to Fig.1, Fig. 5, the utility model provide another lifting steering mechanism 300, including lead screw 303, sliding sleeve
301, tumbler 302, the first driver 306 and the second driver 308；The sliding sleeve 301 be sheathed on the lead screw 303 and with institute
303 screw-thread fit of lead screw is stated, the sliding sleeve 301 is sequentially connected with first driver 306；The tumbler 302 being capable of band
The dynamic lead screw 303 rotates, and when first driver 306 drives the sliding sleeve 301 to rotate, the tumbler 302 can limit
It makes the lead screw 303 circumferentially rotating, the tumbler 302 is sequentially connected with second driver 308.
Sliding sleeve 301 is driven to be rotated around lead screw 303 by the first driver 306, sliding sleeve 301 is matched with lead screw 303 for screw thread
It closes, sliding sleeve 301 can drive lead screw 303 to move up and down when rotating；Second driver 308 drives tumbler 302 to rotate, and turns to
Part 302 drives the rotation of lead screw 303 that steering can be realized.By connecting walking mechanism 400 in the end of lead screw 303, lead screw 303 is done
When elevating movement, you can drive walking mechanism 400 to lift, the end connecting platform 100 of sliding sleeve 301, walking mechanism 400, which is realized, to be risen
Drop, that is, realize the lifting of platform 100, achievees the effect that height is adjusted, and is adjusted to not influence to turn to during lift adjustment
Section, tumbler 302 can limit 303 circumferential movement of lead screw, influence to turn to when so as to avoid lifting, specifically, turn to
Section 302 is connect with lead screw 303 using spline drived.And when turning to adjusting, it drives lead screw 303 to rotate by knuckle, realizes and turn
To divertical motion is typically not greater than 90 °, so at most influencing sliding sleeve 301 when lead screw 303 rotates 90 ° lifts a quarter spiral shell
Away from height, this influence is very small.It is influenced to thoroughly prevent the height, the body part of first driver 306
It is integrally fixed at the shaft end of tumbler 302, and the first driver 306 can turn using the motor of strap brake when turning to
It is rotated to part 302, the first driver 306, sliding sleeve 301 realize with tumbler 302 and rotate synchronously that such tumbler 302 drives silk
When bar 303 rotates, lead screw 303 synchronous can be turned to sliding sleeve 301, keep opposing stationary, there will be no liftings in this way, i.e., from root
It is mutual indepedent with lift adjustment to ensure that steering is adjusted in sheet.In order to realize that tumbler 302 can be in lift adjustment to silk
Bar 303 is circumferentially fixed, and the second driver 308 is also the motor using strap brake.
Claims (10)
1. a kind of lifting steering mechanism, which is characterized in that including lead screw, sliding sleeve, tumbler, the first driver and the second driving
Device；The sliding sleeve is sheathed on the lead screw and coordinates with the wire rod thread, and the lead screw connects with first driver transmission
It connects；The tumbler can drive the sliding sleeve to be rotated around the lead screw, and the lead screw is driven in first driver
The tumbler can limit described slide over and circumferentially rotate when rotation, and the tumbler connects with second driver transmission
It connects.
2. lifting steering mechanism according to claim 1, which is characterized in that second driver uses can be in non-drive
The driver of locking is carried out under dynamic state to tumbler.
3. lifting steering mechanism according to claim 1, which is characterized in that the tumbler uses sleeve structure, described
Tumbler is sheathed on the lead screw and with the lead screw using coaxial arrangement.
4. lifting steering mechanism according to claim 3, which is characterized in that first driver uses can be in non-drive
The driver of locking is carried out under dynamic state to the lead screw, first driver is fixedly attached to the shaft end of tumbler.
5. lifting steering mechanism according to claim 3, which is characterized in that used between the tumbler and described sleeve pipe
Spline fitted.
6. lifting steering mechanism according to claim 1, which is characterized in that the tumbler is used with the sliding sleeve and nibbled outside
The mode of conjunction.
7. lifting steering mechanism according to claim 1, which is characterized in that the lead screw is used with the sliding sleeve to be had certainly
The screw-thread fit of lock function.
8. a kind of using the agricultural robot mobile platform for lifting steering mechanism described in claim 1-7 any one, including institute
The lifting steering mechanism stated, which is characterized in that further include platform and walking mechanism, axial, the described lead screw and institute along the lead screw
Platform is stated to be fixedly connected；The sliding sleeve is connect with the walking mechanism, and can be turned to by sliding sleeve and be driven the walking mechanism
It turns to.
9. agricultural robot mobile platform according to claim 8, which is characterized in that further include pavement state detection system
And control system, the pavement state detection system are used to detect the pavement state letter that agricultural robot mobile platform will pass through
Breath, the pavement state detection system, the first driver, the second driver are connect with control system respectively, the control system
Pavement state information for being detected according to pavement state detection system adjusts first driver and/or the second driving
Device.
10. a kind of lifting steering mechanism, which is characterized in that including lead screw, sliding sleeve, tumbler, the first driver and the second driving
Device；The sliding sleeve is sheathed on the lead screw and coordinates with the wire rod thread, and the sliding sleeve connects with first driver transmission
It connects；The tumbler can drive the lead screw to rotate, the steering when first driver drives the sliding sleeve rotation
Part can limit the lead screw and circumferentially rotate, and the tumbler is sequentially connected with second driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820043538.4U CN207955839U (en) | 2018-01-11 | 2018-01-11 | A kind of lifting steering mechanism and agricultural robot mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820043538.4U CN207955839U (en) | 2018-01-11 | 2018-01-11 | A kind of lifting steering mechanism and agricultural robot mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207955839U true CN207955839U (en) | 2018-10-12 |
Family
ID=63732673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820043538.4U Expired - Fee Related CN207955839U (en) | 2018-01-11 | 2018-01-11 | A kind of lifting steering mechanism and agricultural robot mobile platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN207955839U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032928A (en) * | 2018-01-11 | 2018-05-15 | 西华大学 | One kind lifting steering mechanism and agricultural robot mobile platform |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
-
2018
- 2018-01-11 CN CN201820043538.4U patent/CN207955839U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032928A (en) * | 2018-01-11 | 2018-05-15 | 西华大学 | One kind lifting steering mechanism and agricultural robot mobile platform |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |