CN105291749A - Chassis of four-wheeled robot and robot - Google Patents
Chassis of four-wheeled robot and robot Download PDFInfo
- Publication number
- CN105291749A CN105291749A CN201510772735.0A CN201510772735A CN105291749A CN 105291749 A CN105291749 A CN 105291749A CN 201510772735 A CN201510772735 A CN 201510772735A CN 105291749 A CN105291749 A CN 105291749A
- Authority
- CN
- China
- Prior art keywords
- bar
- ball
- plane
- hinged
- mode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
A chassis of a four-wheeled robot comprises a chassis body, a first rod and a second rod. Wheels are mounted at the two ends of the first rod and the two ends of the second rod respectively, the middle of the first rod is connected with the chassis body in a plane hinge mode, and the middle of the second rod is connected with the chassis body in a plane hinge mode. One end of the first rod is connected with a third rod in a five-freedom-degree connecting mode, the third rod is connected with the second rod in a five-freedom-degree connecting mode, and the third rod is connected with the chassis body in a plane hinge mode. By means of the chassis, a vehicle body can adapt to the ground, meanwhile, a rigid structure is formed by the chassis body relative to the ground, and the vehicle is prevented from shaking.
Description
Technical field
The application belongs to the interconnection system technical field for two or more resilient suspension wheel, belongs to the B60G21/00 classification number of IPC taxonomic hierarchies, particularly relates to multiple four-wheel robot chassis and a kind of robot applying above-mentioned chassis.
Background technology
At present, owing to mostly needing to coordinate sensor to perform an action when robot runs, in order to sensor can obtain the real data of car body, the motion of car body must be made identical with truth, such car body must be rigidity, but does not substantially possess well anti-effect of jolting for rigid-frame under the topographic features of outdoor rather harsh.And for steadily movement on the ground, everybody adopts following several method substantially: 1, add suspension system.Problem is that the shake that response brings is very large, and just as bicycle is through evolution for many years, shock absorbing apparatus does not still have to popularize on bicycle yet, and reason is just that shake is large especially.2, add intelligent checking system to offset vibrations.The problem brought is that cost is high especially, and just as celestial body detecting vehicle, kinematic velocity is slow, and cost remains high.3, adopt track structure, have certain requirement for environment, danger is larger, easily between crawler belt and wheel, is mingled with object.
Chinese patent CN103029539A (publication date 2013.4.10) discloses a kind of passive self adaptation six and takes turns all-terrain moving robot, left and right front parallelogram rocking arm, rear parallelogram rocking arm and main car body four parts, its connection mode is: two front parallelogram rocking arms respectively with main car body before two L shape stay bearing plates hinged, rear parallelogram rocking arm and main car body L shape stay bearing plate is below hinged.But it is the six wheeler structure of main body that this robot remains based on structure for tricycle, often pair of wheel remains the wheel position being arranged on three-wheel vehicle by the rocker structure of parallelogram, if run into less obstacle, one in often pair of wheel lift after, another can be relative decline, can not to the stable formation too much influence of car load.But, if run into larger obstacle, two of every pair of wheels wheels likely all lift by this obstacle simultaneously, this is all raised the part of wheel will to make the installation of two wheels, the parallelogram rocker arm body connecting two wheels and robot, and the chassis of robot also can therefore run-off the straight.Therefore the stability of robot motion also can be affected.
Summary of the invention
The present invention provides four-wheel robot chassis and applies the robot on above-mentioned four-wheel robot chassis for overcoming the technical matters that exists in prior art, this chassis can make chassis body adapt to ground and make body relative ground formation rigid construction simultaneously, avoids the shake of chassis body.
A kind of four-wheel robot chassis, comprise chassis body, the first bar and the second bar, the two ends of the first bar and the second bar are separately installed with wheel, the middle part of the first bar is connected with chassis body by the mode that plane is hinged, the middle part of the second bar is connected with chassis body by the mode that plane is hinged, the mode that one end of first bar is connected by five degree of freedom is connected with the 3rd bar, the mode that 3rd bar is connected by five degree of freedom is connected with the second bar, and the 3rd bar is connected with chassis body by the mode that plane is hinged.
By the 3rd bar, the side linkage of both sides is connected, can the wheel height change of the suspension gear shared side of 2 sides be utilized, also can reduce the rangeability of vehicle's center of gravity.
Preferred technical scheme, its supplementary features are: in the connection of the first bar and the 3rd bar, and the direction of constrained motion is perpendicular to the first bar or the 3rd bar; And in the connection of the second bar and the 3rd bar, the direction of constrained motion is perpendicular to the second bar or the 3rd bar.
Preferred technical scheme further, its additional technical feature is: one end of the first bar and one end of the 3rd bar form sphere higher pair; One end of second bar and the other end of the 3rd bar form sphere higher pair.
Because the end points of the second bar, the first bar and the 3rd bar define sphere higher pair, the end points of first and second bar can be avoided when rotary motion, the problem affecting freedom of motion caused because the length of first and second bar cannot extend.
Further preferred technical scheme again, its supplementary features are: the first bar is provided with the first ball in the mode of axial restraint, 3rd bar is provided with the first ball chute, 3rd bar is in the first plane, and the first plane is not orthogonal to the first bar, the first ball universal rotational in the first ball chute slides simultaneously in the first plane;
Second bar is provided with the second ball in the mode of axial restraint, and the 3rd bar is provided with the second ball chute, and the 3rd bar is in the second plane, and the second plane is not orthogonal to the second bar, and the second ball universal rotational in the second ball chute slides simultaneously in the second plane.
When each wheel swings up and down relatively relative to chassis body, the suspension gear of every side acts on ball chute by ball, ball chute is swung up and down, 2 ball chutes are fixed on the two ends of the 3rd bar, 3rd bar is hinged in chassis body by fulcrum, and achieving chassis body can not rotate continuously around fulcrum and fulcrum.And any specifically shape, the position of chassis body is rigidity and unique.
Further preferred technical scheme again, its supplementary features are: the 3rd bar is provided with the first ball in the mode of axial restraint, first bar is provided with the first ball chute, first bar is in the first plane, and the first plane is not orthogonal to the 3rd bar, the first ball universal rotational in the first ball chute slides simultaneously in the first plane;
3rd bar is provided with the second ball in the mode of axial restraint, and the second bar is provided with the second ball chute, and the second bar is in the second plane, and the second plane is not orthogonal to the 3rd bar, and the second ball universal rotational in the second ball chute slides simultaneously in the second plane.This technical scheme also can realize the technique effect identical with a upper technical scheme.
Preferred technical scheme further, its supplementary features are: the first bar is provided with the first ball in an axially slidable way, and the 3rd bar is provided with the first ball chute, and the first ball universal rotational in the first ball chute slides simultaneously, and the direction of slip is parallel with the 3rd bar;
Second bar is provided with the second ball in an axially slidable way, and the 3rd bar is provided with the second ball chute, and the second ball universal rotational in the second ball chute slides simultaneously, and the direction of slip is parallel with the 3rd bar.This technical scheme also can realize the technique effect identical with a upper technical scheme.
Preferred technical scheme further, its supplementary features are: the 3rd bar is provided with the first ball in an axially slidable way, and the first bar is provided with the first ball chute, and the first ball universal rotational in the first ball chute slides simultaneously, and the direction of slip is parallel with the first bar;
3rd bar is provided with the second ball in an axially slidable way, and the second bar is provided with the second ball chute, and the second ball universal rotational in the second ball chute slides simultaneously, and the direction of slip is parallel with the second bar.This technical scheme also can realize the technique effect identical with a upper technical scheme.
Preferred technical scheme, its supplementary features are: one end and the 4th bar sphere of the first bar are hinged, and the 4th bar is also hinged with one end sphere of the 3rd bar; One end and the 5th bar sphere of the second bar are hinged, and the 5th bar is also hinged with the other end sphere of the 3rd bar.
The form of this programme and bar hinged by 2 spheres, realizes the connection of 5DOF with the 3rd bar respectively by the first side linkage, the second side linkage, stability and durability raising.
A kind of four-wheel robot chassis, comprise chassis body, the first bar and the second bar, the two ends of the first bar and the second bar are separately installed with wheel; One end of first bar and one end sphere of the 3rd bar hinged, one end of the second bar and the other end sphere of the 3rd bar hinged; The other end and the 4th bar sphere of the first bar are hinged, the other end of the second bar and the other end sphere of the 4th bar hinged; The middle part of the middle part of the first bar, the middle part of the second bar, the 3rd bar, the middle part of the 4th bar are connected with chassis body by the mode slid axially with the rotating shaft be arranged in chassis body, axial-rotation is installed.
The technical program also can obtain the technique effect identical with last technical scheme.
A kind of robot employing above-mentioned four-wheel robot chassis.
Accompanying drawing explanation
Fig. 1 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 1;
Fig. 2 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 2;
Fig. 3 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 3.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and be described in detail as follows:
Embodiment 1:
Fig. 1 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 1, and wherein, each Reference numeral represents that implication is as follows;
1 is the first ball, and 2 is first bar front ends, and 3 is first ball chutes, 4 is the 3rd bars, and 5 is chassis body, and 6 is in the middle part of the 3rd bar, 7 is second bar front ends, and 8 is second balls, and 9 is second ball chutes, 10 is chassis body and the first bar hinge-point, and 11 is first rod rear ends, and 12 is first bars, 13 is chassis body and the second bar hinge-point, 14 is second rod rear ends, and 15 is second bars
A kind of four-wheel robot chassis, comprise chassis body 5, first bar 12 and the second bar 15, first bar front end 7, first, bar front end 2, second rod rear end 11 and the second rod rear end 14 are separately installed with wheel, the middle part of the first bar 12 is connected with chassis body 5 by the mode that plane is hinged, the middle part of the second bar 15 is connected with chassis body 5 by the mode that plane is hinged, and in the middle part of the 3rd bar, 6 are connected with chassis body 5 by the mode that plane is hinged.
First bar 12 is provided with the first ball 1 in the mode of axial restraint, 3rd bar 4 is provided with the first ball chute the 3, three bar 4 and is in the first plane, and the first plane is not orthogonal to the first bar 12, first ball 1 can in the first ball chute 3 universal rotational, in the first plane, carry out the movement of two dimension simultaneously.In this connection mode, because the first ball 1 on the first bar 12 is just limited in the first plane, in addition, first bar 12 is all unrestricted relative to remaining 5 degree of freedom of the 3rd bar 4, so be referred to as " mode that one end of the first bar 12 is connected by five degree of freedom is connected with the 3rd bar 4 ".
Second bar 15 is provided with the second ball 8 in the mode of axial restraint, 3rd bar 4 is provided with the second ball chute 9,3rd bar 4 is in the second plane, and the second plane is not orthogonal to the second bar 15, second ball 8 universal rotational in the second ball chute 9 slides in the second plane simultaneously.In this connection mode, because the second ball 8 on the second bar 15 is just limited in the second plane, in addition, second bar 15 is all unrestricted relative to remaining 5 degree of freedom of the 3rd bar 4, so be referred to as " mode that one end of the second bar 15 is connected by five degree of freedom is connected with the 3rd bar 4 ".
When each wheel swings up and down relatively relative to chassis body, the angle of the first bar 12 and the 3rd bar 4 changes, so the first ball 1 on the first bar 12 also rotates in the first ball chute 3, simultaneously, because the first bar 12 becomes heeling condition by horizontality, and the axial location of the first ball 1 on the first bar 12 does not change, so this just needs the first ball 12 to be moved on the position crossing with the 3rd bar 4.In like manner, in the middle part of the 3rd bar, 6 and first distances between ball also can increase, thus the first ball 1 also can in the first ball chute 3 along away from the middle part of the 3rd bar 6 direction move.
Accordingly, also can there is same process in the junction of the second bar 15 and the 3rd bar 4.
Because the suspension gear of every side acts on ball chute by ball, ball chute is swung up and down, 2 ball chutes are fixed on the two ends of the 3rd bar, and the 3rd bar is hinged in chassis body by fulcrum, and achieving chassis body can not rotate continuously around fulcrum and fulcrum.And any specifically shape, the position of chassis body is rigidity and unique.
Embodiment 2:
Fig. 2 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 2, and wherein, each Reference numeral represents that implication is as follows;
1 ' is the 4th bar, and 2 is the 4th bar upper ends, and 3 ' is the 4th bar lower end, 4 is the 3rd bars, and 5 is chassis body, and 6 is in the middle part of the 3rd bar, 7 is the 5th bar upper ends, and 8 ' is the 5th bar, and 9 ' is the 5th bar lower end, 10 is chassis body and the first bar hinge-point, and 11 is first rod rear ends, and 12 is first bars, 13 is chassis body and the second bar hinge-point, 14 is second rod rear ends, and 15 is second bars
A kind of four-wheel robot chassis, comprise chassis body 5, first bar 12 and the second bar 15, the two ends of the first bar 12 and the second bar 15 are separately installed with wheel, the middle part of the first bar 12 is connected with chassis body 5 by the mode that plane is hinged, the middle part of the second bar 15 is connected with chassis body 5 by the mode that plane is hinged, and the 3rd bar 4 is connected with chassis body 5 by the mode that plane is hinged.
One end and the 4th bar upper end 2 sphere of the first bar 12 are hinged, and the 4th bar lower end 3 ' is also hinged with one end sphere of the 3rd bar; One end and the 5th bar upper end 7 sphere of the second bar 15 are hinged, and the 5th bar lower end 9 ' is also hinged with the other end sphere of the 3rd bar.Because the first bar 12 is relative to the position of the 3rd bar 4, except must there be certain distance one end of the first bar 12 with one end of the 3rd bar 4 (this distance is the length of the 4th bar), namely one end of the first bar 12 must be in and be the centre of sphere with one end of the 3rd bar 4, be in the sphere of radius with the 4th bar 1 ' length, there is no other constraint, so the one end can calling the first bar 12 is that 5DOF is connected with the connection mode of the 3rd bar 4.In like manner, the one end also can calling the second bar 15 is that 5DOF is connected with the connection mode of the 3rd bar 4.
The form of the present embodiment and bar hinged by 2 spheres, realizes the connection of 5DOF with the 3rd bar respectively by the first side linkage, the second side linkage, improves contact stabilization and the durability of ball and hinged penalty kick bowl.
Embodiment 3:
Fig. 3 is the structural representation on the four-wheel robot chassis of the embodiment of the present invention 3, and wherein, each Reference numeral represents that implication is as follows;
2 is the 3rd bar right-hand members, and 4 is the 3rd bars, and 5 is chassis body, 6 is chassis body and the 3rd bar point of connection, 7 is the 3rd bar left ends, and 10 is chassis body and the first bar point of connection, and 11 is the 4th bar right-hand members, 12 is first bars, 13 is chassis body and the second bar point of connection, and 14 is the 4th bar left ends, and 15 is second bars, 16 is the 4th bars, and 17 is chassis body and the 4th bar point of connection
A kind of four-wheel robot chassis, the two ends comprising chassis body 5, first bar 12 and the second bar 15, first bar 12 and the second bar 15 are separately installed with wheel.
One end and the 3rd bar right-hand member 2 sphere of the first bar 12 are hinged, and front end and the 3rd bar left end 7 sphere of the second bar 15 are hinged; Rear end and the 4th bar right-hand member 11 sphere of the first bar 12 are hinged, rear end and the 4th bar left end 14 sphere of the second bar 15 are hinged, and the middle part of the first bar 12, the middle part of the second bar 15, the middle part of the 3rd bar 4, the middle part of the 4th bar 16 are connected with chassis body 5 by the mode slid axially with the rotating shaft be arranged in chassis body, axial-rotation is installed.
Such as, while the front end of the second bar 15 moves up, 3rd bar left end 7 also can upwards lift, and then successively, the 3rd bar right-hand member 2 and the first bar 12 front end decline, first bar 12 rear end and the 4th bar right-hand member 11 rise, and the rear end of the 4th bar left end 14 and the second bar declines.While the second bar 15 front end upwards lifting, the distance between in the middle part of the second bar 15 front end and the second bar 15 is fixed, so the horizontal throw in the middle part of the second bar 15 front end and the second bar 15 shortens, so the 3rd bar 4 is also driven and moves to chassis body 5 center.In like manner, the first bar 12, the 4th bar 16, second bar 15 also all move to chassis body 5 center.That is, from birds-eye view, the rectangle that the first bar 12, second bar 15, the 3rd bar 4, the 4th bar 16 surround also is reducing.
Embodiment 4:
The difference of the present embodiment and embodiment 1 is: in embodiment 1, is to realize first and second bar by the movement of the Planar realization two dimension of ball in chute to be connected with the five degree of freedom of the 3rd bar,
And in the present embodiment, the first bar being provided with in an axially slidable way the first ball, the 3rd bar is provided with the first ball chute, and the first ball universal rotational in the first ball chute slides simultaneously, and the direction of slip is parallel with the 3rd bar;
Second bar is provided with the second ball in an axially slidable way, and the 3rd bar is provided with the second ball chute, and the second ball universal rotational in the second ball chute slides simultaneously, and the direction of slip is parallel with the 3rd bar.The movement of the two dimension in embodiment 1 is resolved in order to the unidirectional slip of ball in ball chute and the unidirectional slip of ball on first and second bar by this technical scheme.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above, but the present invention is not limited to above-mentioned detailed description of the invention, above-mentioned detailed description of the invention is only schematic, be not restrictive, those of ordinary skill in the art is under enlightenment of the present invention, do not departing under the ambit that present inventive concept and claim protect, a lot of form can also be made, such as: 1. embodiment 1, 2, 4 is two ends ball chute being arranged on the 3rd bar, ball is connected to first, two bars, in fact ball chute can also be arranged on first, on two bars, ball is connected on the 3rd bar.These all belong within protection scope of the present invention.
Claims (10)
1. a four-wheel robot chassis, comprise chassis body, first bar and the second bar, the two ends of described first bar and described second bar are separately installed with wheel, it is characterized in that: the middle part of described first bar is connected with described chassis body by the mode that plane is hinged, the middle part of described second bar is connected with described chassis body by the mode that plane is hinged, the mode that one end of described first bar is connected by five degree of freedom is connected with the 3rd bar, the mode that described 3rd bar is connected by five degree of freedom is connected with described second bar, described 3rd bar is connected with described chassis body by the mode that plane is hinged.
2. four-wheel robot chassis according to claim 1, is characterized in that: in the connection of described first bar and described 3rd bar, and the direction of constrained motion is perpendicular to described first bar or described 3rd bar; And in the connection of described second bar and described 3rd bar, the direction of constrained motion is perpendicular to described second bar or described 3rd bar.
3. four-wheel robot chassis according to claim 2, is characterized in that: one end of described first bar and one end of described 3rd bar form sphere higher pair; One end of described second bar and the other end of described 3rd bar form sphere higher pair.
4. four-wheel robot chassis according to claim 3, it is characterized in that: described first bar is provided with the first ball in the mode of axial restraint, described 3rd bar is provided with the first ball chute, described 3rd bar is in the first plane, and described first plane is not orthogonal to described first bar, described first ball universal rotational in described first ball chute slides simultaneously in described first plane;
Described second bar is provided with the second ball in the mode of axial restraint, described 3rd bar is provided with the second ball chute, described 3rd bar is in the second plane, and described second plane is not orthogonal to described second bar, described second ball universal rotational in described second ball chute slides simultaneously in described second plane.
5. four-wheel robot chassis according to claim 3, it is characterized in that: described 3rd bar is provided with the first ball in the mode of axial restraint, described first bar is provided with the first ball chute, described first bar is in the first plane, and described first plane is not orthogonal to described 3rd bar, described first ball universal rotational in described first ball chute slides simultaneously in described first plane;
Described 3rd bar is provided with the second ball in the mode of axial restraint, described second bar is provided with the second ball chute, described second bar is in the second plane, and described second plane is not orthogonal to described 3rd bar, described second ball universal rotational in described second ball chute slides simultaneously in described second plane.
6. four-wheel robot chassis according to claim 2, it is characterized in that: described first bar is provided with the first ball in an axially slidable way, described 3rd bar is provided with the first ball chute, described first ball universal rotational in described first ball chute slides simultaneously, and the direction of slip is parallel with described 3rd bar;
Described second bar is provided with the second ball in an axially slidable way, and described 3rd bar is provided with the second ball chute, and described second ball universal rotational in described second ball chute slides simultaneously, and the direction of slip is parallel with described 3rd bar.
7. four-wheel robot chassis according to claim 2, it is characterized in that: described 3rd bar is provided with the first ball in an axially slidable way, described first bar is provided with the first ball chute, described first ball universal rotational in described first ball chute slides simultaneously, and the direction of slip is parallel with described first bar;
Described 3rd bar is provided with the second ball in an axially slidable way, and described second bar is provided with the second ball chute, and described second ball universal rotational in described second ball chute slides simultaneously, and the direction of slip is parallel with described second bar.
8. four-wheel robot chassis according to claim 1, is characterized in that: one end and the 4th bar sphere of described first bar are hinged, and described 4th bar is also hinged with one end sphere of described 3rd bar; One end and the 5th bar sphere of described second bar are hinged, and described 5th bar is also hinged with the other end sphere of described 3rd bar.
9. a four-wheel robot chassis, comprise chassis body, the first bar and the second bar, the two ends of described first bar and described second bar are separately installed with wheel, it is characterized in that: one end of described first bar and one end sphere of the 3rd bar hinged, one end of described second bar and the other end sphere of described 3rd bar hinged; The other end and the 4th bar sphere of described first bar are hinged, the other end of described second bar and the other end sphere of described 4th bar hinged; The middle part of the middle part of described first bar, the middle part of described second bar, described 3rd bar, the middle part of described 4th bar are connected with chassis body by the mode slid axially with the rotating shaft be arranged in chassis body, axial-rotation is installed.
10. a robot, is characterized in that: employ according to the four-wheel robot chassis one of claim 1-9 Suo Shu.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772735.0A CN105291749A (en) | 2015-11-12 | 2015-11-12 | Chassis of four-wheeled robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772735.0A CN105291749A (en) | 2015-11-12 | 2015-11-12 | Chassis of four-wheeled robot and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105291749A true CN105291749A (en) | 2016-02-03 |
Family
ID=55189850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510772735.0A Pending CN105291749A (en) | 2015-11-12 | 2015-11-12 | Chassis of four-wheeled robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105291749A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557646A (en) * | 2004-02-12 | 2004-12-29 | 吉林大学 | Mechanical type twist eliminating suspension frame |
| CN201196221Y (en) * | 2008-05-20 | 2009-02-18 | 裕东（中山）机械工程有限公司 | Ball stud coupling |
| CN201217390Y (en) * | 2008-04-08 | 2009-04-08 | 中国矿业大学 | Jiggle bar type four-wheel robot |
| US20090260537A1 (en) * | 2005-08-16 | 2009-10-22 | Bombardier Transportation Gmbh | Vehicle with anti-roll devices |
| CN203110872U (en) * | 2013-03-22 | 2013-08-07 | 中国重汽集团济南动力有限公司 | Machine torque elimination device for middle and rear axles or primary and secondary axles |
| CN104149575A (en) * | 2014-09-01 | 2014-11-19 | 杨丰华 | Distortion swing suspension for four-wheeler |
| CN205130846U (en) * | 2015-11-12 | 2016-04-06 | 机器时代(北京)科技有限公司 | Four -wheel robot chassis and robot |
-
2015
- 2015-11-12 CN CN201510772735.0A patent/CN105291749A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557646A (en) * | 2004-02-12 | 2004-12-29 | 吉林大学 | Mechanical type twist eliminating suspension frame |
| US20090260537A1 (en) * | 2005-08-16 | 2009-10-22 | Bombardier Transportation Gmbh | Vehicle with anti-roll devices |
| CN201217390Y (en) * | 2008-04-08 | 2009-04-08 | 中国矿业大学 | Jiggle bar type four-wheel robot |
| CN201196221Y (en) * | 2008-05-20 | 2009-02-18 | 裕东（中山）机械工程有限公司 | Ball stud coupling |
| CN203110872U (en) * | 2013-03-22 | 2013-08-07 | 中国重汽集团济南动力有限公司 | Machine torque elimination device for middle and rear axles or primary and secondary axles |
| CN104149575A (en) * | 2014-09-01 | 2014-11-19 | 杨丰华 | Distortion swing suspension for four-wheeler |
| CN205130846U (en) * | 2015-11-12 | 2016-04-06 | 机器时代(北京)科技有限公司 | Four -wheel robot chassis and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100560393C (en) | Retracting-releasing device of amphibious vehicle wheel | |
| CN106476550A (en) | A kind of wheeled robot chassis | |
| US8474844B2 (en) | Suspension structure for multi-purpose utility vehicle | |
| CN105329335B (en) | A kind of six wheel robot chassis and robot | |
| CN206327100U (en) | A kind of wheeled robot chassis | |
| CN206870775U (en) | Mobile platform | |
| CN103879467B (en) | The differential mobile robot platform of a kind of passive self adaptation crawler belt deformable rocking bar | |
| CN105882341A (en) | Wheel suspension for travelling crane, and crane | |
| CN104354878A (en) | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler | |
| CN203818974U (en) | Novel vehicle suspension mechanism and vehicle | |
| CN103496408A (en) | Two-step dependent caterpillar band suspension chassis system | |
| CN205130846U (en) | Four -wheel robot chassis and robot | |
| CN106183693B (en) | The adaptively wheel moving platform of landform and the fire-fighting sniffing robot with it | |
| CN105059408A (en) | Crawler-type mobile platform passively adaptive to terrain and robot having same | |
| CN106976496B (en) | Balanced telescopic machanism and contain its balance car | |
| CN105291749A (en) | Chassis of four-wheeled robot and robot | |
| CN207257822U (en) | Robot chassis and robot | |
| CN206264737U (en) | A kind of deflection angle stopping means on nutation type vehicle | |
| CN103693143B (en) | There is the battery-driven car of shock absorbing apparatus | |
| CN203427918U (en) | Caterpillar track chassis of beach cleaning vehicle | |
| CN104527360A (en) | Trailing arm type rear suspension system for power-driven transport van | |
| CN209176845U (en) | Locomotive two-wheel balances suspension system | |
| CN211222946U (en) | Vehicle attitude active adjustment system and vehicle | |
| CN103376087A (en) | Automobile body pitching angle detection system, control system and corresponding automobile | |
| CN209351487U (en) | A kind of passive adaptive caterpillar robot mobile platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20191022 |
|
| AD01 | Patent right deemed abandoned |