CN106275070A - Wheel steering mechanism and vehicle - Google Patents
Wheel steering mechanism and vehicle Download PDFInfo
- Publication number
- CN106275070A CN106275070A CN201510283039.3A CN201510283039A CN106275070A CN 106275070 A CN106275070 A CN 106275070A CN 201510283039 A CN201510283039 A CN 201510283039A CN 106275070 A CN106275070 A CN 106275070A
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- Prior art keywords
- junction point
- drag
- line
- wheel
- steering mechanism
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Abstract
The invention discloses a kind of wheel steering mechanism and vehicle, wherein, wheel steering mechanism includes axletree (3), first wheel (1) and the second wheel (2), the first knuckle and the second knuckle it is respectively arranged with on first wheel and the second wheel, first knuckle has the first junction point (4), second knuckle has the second junction point (5), described wheel steering mechanism also includes transfer and returning device, transfer includes the first rotary drive unit (61) and the first drag-line (62), the two ends of the first drag-line are connected to the first junction point and the second junction point, the output shaft (611) of the first rotary drive unit can drive the first drag-line to be wound on it, so that two wheels reversely deflect, returning device can make the wheel return after deflection.Described vehicle includes described wheel steering mechanism.The wheel steering mechanism of the present invention can make two wheels towards the deflection of different directions to arrange in " eight words " shape, thus meet and multiple turn to demand.
Description
Technical field
The present invention relates to wheel steering system field, in particular it relates to a kind of wheel steering mechanism and having
The vehicle of this wheel steering mechanism.
Background technology
At present, Vehicular turn is all realized by steering gear, mechanical steering system, electric boosting steering system,
Hydraulic power-assist steering system etc. will be used steering gear and realize, and power shaft will transmit from steering wheel
Turn to intention, by sensor, signal is passed to assist motor, assist motor and reducing gear and finally will
Moment is converted into the lateral displacement thrust of tooth bar, and tooth bar promotes wheel steering.Turning in above-mentioned steering mechanism
To device, generally by gear input shaft, tooth bar, outside link, track rod, the part such as steering gear housing
Being assembled, pinion and rack part accuracy of manufacture height assembly precision is high, and manufacturing cost is high, in order to fill
Selective gear rack structure installation to be designed housing, housing volume is big, and quality weight, volume is greatly at the bottom of vehicle
Difficult arrangement on dish, quality heavily increases complete vehicle weight and adversely affects reducing automobile fuel consumption.
Further, in the steering gear of prior art, steering gear length is uncontrollable, thus makes
Distance between two knuckles cannot change, and two deflecting rollers can only deflect in the same direction, it is impossible to full
Foot is multiple turns to demand.
Summary of the invention
It is an object of the invention to provide and a kind of disclosure satisfy that the multiple wheel steering mechanism turning to demand.
To achieve these goals, the present invention provides a kind of wheel steering mechanism, including axletree be arranged on
First wheel at these axletree two ends and the second wheel, described first wheel and the second wheel are respectively arranged with
First knuckle and the second knuckle, described first knuckle has the first junction point, and described second turns to
Joint has the second junction point, and described first junction point and the second junction point are positioned at the same side of described axletree,
Wherein, described wheel steering mechanism also includes that transfer and returning device, described transfer include
One rotary drive unit and the first drag-line, the two ends of described first drag-line are connected to described first and connect
Point and the second junction point, the output shaft of described first rotary drive unit can drive described first drag-line to twine
On it, so that described first wheel and the second wheel reversely deflect, described returning device can make partially
Described first wheel after Zhuaning and the second wheel return.
Preferably, the output shaft of described first rotary drive unit being provided with reel, described first draws
Rope is wrapped on this reel.
Preferably, described first rotary drive unit is motor.
Preferably, described first knuckle also has the 3rd junction point, and the 3rd junction point is positioned at described car
The side contrary with described first junction point of axle, described second knuckle also has the 4th junction point, should
4th junction point is positioned at the side contrary with described second junction point of described axletree, described returning device bag
Including the second rotary drive unit and the second drag-line, the two ends of described second drag-line are connected to the described 3rd
Junction point and the 4th junction point, the output shaft of described second rotary drive unit can drive described second to draw
Rope is wound on it, so that described second drag-line shortens.
Preferably, described transfer is identical with returning device structure.
Preferably, described first knuckle also have lay respectively at before and after described axletree the first of both sides before connect
Junction point after contact and first, described second knuckle also has and lays respectively at both sides before and after described axletree
Junction point after junction point and second before second, described returning device includes the first returning device and the second return
Device, described first returning device includes the second rotary drive unit and the second drag-line, the second returning device
Including the 3rd rotary drive unit and the 3rd drag-line, the two ends of described second drag-line are connected to described
Junction point after junction point and second before one, the output shaft of described second rotary drive unit can drive described
Second drag-line is wound on it, so that described second drag-line shortens；The two ends of described 3rd drag-line connect respectively
Junction point before junction point and second after being connected to described first, the output shaft energy of described 3rd rotary drive unit
Described 3rd drag-line is enough driven to be wound on it, so that described 3rd drag-line shortens.
Preferably, junction point before described first, junction point after first, junction point before second, connect after second
Contact is the most equal to the distance of described axletree.
Preferably, before described first, junction point is identical with described first junction point position, connects before described second
Contact is identical with described second junction point position.
Preferably, described transfer, the first returning device and the second returning device structure are identical.
The present invention also provides for a kind of vehicle, and this vehicle is provided with wheel steering mechanism as above.
Preferably, the front and rear of this vehicle is provided with described wheel steering mechanism, is being positioned at vehicle
In anterior described wheel steering mechanism, described first junction point and the second junction point are positioned at described axletree
Front side；In the described wheel steering mechanism being positioned at vehicle rear, described first junction point and second connects
Point is positioned at the rear side of described axletree.
In the wheel steering mechanism of the present invention, when the output shaft of the first rotary drive unit rotates forward,
First drag-line is gradually wrapped on output shaft, thus pulls the first junction point and the second junction point, so that two
The spacing of individual junction point diminishes so that the first wheel and the second wheel towards different direction deflection with in
" eight words " shape is arranged, thus meets the multiple of vehicle and turn to demand.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with
Detailed description below is used for explaining the present invention together, but is not intended that limitation of the present invention.?
In accompanying drawing:
Fig. 1 is the schematic diagram of the wheel steering mechanism according to one embodiment of the present invention；
Fig. 2 is the schematic diagram of the wheel steering mechanism according to another embodiment of the invention；
Fig. 3 is the partial schematic diagram of a kind of embodiment of transfer；
Fig. 4 is the signal that two wheels of the wheel steering mechanism according to the present invention are deflected into "eight" shape
Figure；
Fig. 5 is the schematic diagram that the wheel steering mechanism according to the present invention deflects to the right；
Fig. 6 is the schematic diagram that the wheel steering mechanism according to the present invention deflects to the left；
Fig. 7 is the schematic diagram of the vehicle according to one embodiment of the present invention；
Fig. 8 is that vehicle according to the invention is in phase reversal and turns to the schematic diagram of pattern；
Fig. 9 is that vehicle according to the invention is in diagonal and turns to the schematic diagram of pattern.
Figure 10 is the schematic diagram that vehicle according to the invention is in pivot stud pattern.
Description of reference numerals
1 first wheel 2 second wheel 3 axletree
4 first junction point 5 second junction point 61 first rotary drive units
62 first drag-line 71 second rotary drive unit 72 second drag-lines
8 the 3rd junction point 9 the 4th junction point 101 the 3rd rotary drive units
Junction point after junction point 12 first before 102 the 3rd drag-lines 11 first
Junction point after junction point 14 second before 13 second
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that
Detailed description of the invention described herein is merely to illustrate and explains the present invention, is not limited to the present invention.
In the present invention, in the case of illustrating on the contrary, the noun of locality of use such as " forward and backward " is
The state being installed on vehicle in the wheel steering mechanism of the present invention is undefined；" left and right " is typically
Refer to the left and right of respective drawings page.
As depicted in figs. 1 and 2, the present invention provides a kind of wheel steering mechanism, including axletree 3 and installation
At first wheel 1 and second wheel 2 at these axletree 3 two ends, the first wheel 1 and the second wheel 2 divide
Not being provided with the first knuckle and the second knuckle, described first knuckle has the first junction point 4, institute
Stating the second knuckle and have the second junction point 5, the first junction point 4 and the second junction point 5 are positioned at axletree 3
The same side, wherein, described wheel steering mechanism also includes transfer and returning device, described in turn to
Device includes the first rotary drive unit 61 and the first drag-line 62, and the two ends of the first drag-line 62 connect respectively
In the first junction point 4 and the second junction point 5, the output shaft 611 of the first rotary drive unit 61 can carry
Dynamic first drag-line 62 is wound on it, so that the first wheel 1 and the second wheel 2 reversely deflect, described
Returning device can make the first wheel 1 and the second wheel 2 return after deflection.
In the wheel steering mechanism of the present invention, when the first rotary drive unit 61 output shaft 611 just
In time rotating, the first drag-line 62 is gradually wrapped on output shaft 611, thus pulls the first junction point 4
With the second junction point 5 so that the spacing of two junction points diminishes, so that the first wheel 1 and the second car
Wheel 2 deflects to arrange (as shown in Figure 4) in " eight words " shape towards different directions, thus meets car
Multiple turn to demand.
Here, the first rotary drive unit 61 can be such as motor or hydraulic motor.
The winding of the first drag-line 62 for convenience, it is preferable that as it is shown on figure 3, first rotates driving list
Being provided with reel 63 on the output shaft 611 of unit 61, described first drag-line 62 is wound into this reel
On 63.
It should be appreciated that the first drag-line 62 can be formed as whole drag-line, it is also possible to include two phases
The drag-line section separated mutually.
In the case of the first drag-line 62 is formed as whole drag-line, as a kind of embodiment, can be by
Being a little fixed on reel 63 in the middle part of first drag-line 62；As another embodiment, Ke Yi
Offer the through hole radially extended on reel 63, and make the first drag-line 62 through this through hole.
In the case of the first drag-line 62 includes two drag-line sections being separated from each other, as a kind of embodiment party
The two ends of one drag-line section can be connected on the first junction point 4 and reel 63 by formula, will
The two ends of another drag-line section are connected on the second junction point 5 and reel 63.
Described returning device can have various appropriate configuration.As a kind of embodiment, as it is shown in figure 1,
Described first knuckle also has the 3rd junction point 8, the 3rd junction point 8 be positioned at axletree 3 with first
The side that junction point 4 is contrary, described second knuckle also has the 4th junction point 9, the 4th junction point
9 sides contrary with the second junction point 5 being positioned at axletree 3, described returning device includes that the second rotation is driven
Moving cell 71 and the second drag-line 72, the two ends of the second drag-line 72 are connected to the 3rd junction point 8 and
Four junction points 9, the output shaft of the second rotary drive unit 71 can drive the second drag-line 72 to be wound into it
On, so that the second drag-line 72 shortens.Here, the structure of described returning device and operation principle can be with
Described transfer is identical, does not repeats them here.
In this embodiment, after the first wheel 1 and the second wheel 2 occur reversely to deflect, can
Rotate forward starting the second rotary drive unit 71, so that the second drag-line 72 shortens, and start
One rotary drive unit 61 reversely rotates, so that the first drag-line 62 extends, so that the first wheel 1 He
Second wheel 2 return.
As another embodiment, as in figure 2 it is shown, described first knuckle also has lays respectively at institute
Junction point 12, described second knuckle after junction point 11 and first before stating before and after axletree 3 the first of both sides
Also there is before laying respectively at before and after axletree 3 the second of both sides junction point 14, institute after junction point 13 and second
State returning device and include that the first returning device and the second returning device, described first returning device include second
Rotary drive unit 71 and the second drag-line 72, the second returning device includes the 3rd rotary drive unit 101
With the 3rd drag-line 102, the two ends of the second drag-line 72 be connected to first before after junction point 11 and second
Junction point 14, the output shaft of the second rotary drive unit 71 can drive the second drag-line 72 to be wound on it,
So that the second drag-line 72 shortens；The two ends of the 3rd drag-line 102 be connected to first after junction point 12 He
Junction point 13 before second, the output shaft of the 3rd rotary drive unit 101 can drive the 3rd drag-line 102
It is wound on it, so that the 3rd drag-line 102 shortens.Here, described first returning device and the second return
The structure and working principle of device can be identical with described transfer respectively, does not repeats them here.
In this embodiment, occur reversely to deflect (such as Fig. 4 at the first wheel 1 and the second wheel 2
Shown in) after, can first start the second rotary drive unit 71 and rotate forward, so that the second drag-line
72 shorten, and start the 3rd rotary drive unit 101 and reversely rotate, so that the 3rd drag-line 102 extends,
Start the first rotary drive unit 61 to reversely rotate simultaneously, so that the first drag-line 62 extends, so that the
One wheel 1 and the second wheel 2 deflect (as shown in Figure 5) the most to the right, then start the 3rd rotation and drive
Unit 101 rotates forward, so that the 3rd drag-line 102 shortens, and starts the second rotary drive unit 71
Reversely rotate, so that the second drag-line 72 extends, so that the first wheel 1 and the second wheel 2 return (as
Shown in Fig. 2).In like manner, occur reversely to deflect (as shown in Figure 4) at the first wheel 1 and the second wheel 2
Afterwards, it is also possible to first start the 3rd rotary drive unit 101 and rotate forward, so that the 3rd drag-line 102
Shorten, and start the second rotary drive unit 71 and reversely rotate, so that the second drag-line 72 extends, with
Shi Qidong the first rotary drive unit 61 reversely rotates, so that the first drag-line 62 extends, so that first
Wheel 1 and the second wheel 2 deflect (as shown in Figure 6) the most to the left, then start the second rotation and drive single
Unit 71 rotates forward, so that the second drag-line 72 shortens, and it is anti-to start the 3rd rotary drive unit 101
To rotation, so that the 3rd drag-line 102 extends, so that the first wheel 1 and the second wheel 2 return (as
Shown in Fig. 2).
It is easily understood that in this embodiment, described returning device is possible not only to make reversely to deflect
After two wheel returns, the deflection in the same direction of two wheels can also be realized simultaneously.
Angle in order to make the first wheel 1 and the second wheel 2 turn over is equal, it is preferable that connect before first
After point 11, first, before junction point 12, second, after junction point 13, second, junction point 14 arrives described axletree 3
Distance the most equal.
In order to simplify the first knuckle and the structure of the second knuckle, it is preferable that as in figure 2 it is shown, first
Front junction point 11 is identical with the first junction point 4 position, junction point 13 and the second junction point 5 before second
Put identical.In other words, before first, junction point 11 and the first junction point 4 are same junction point, the
Before two, junction point 13 and the second junction point 5 are same junction point.
As it is shown in fig. 7, the present invention also provides for a kind of vehicle, this vehicle is provided with the car according to the present invention
Wheel steering mechanism.
Described wheel steering mechanism can be arranged on the front and/or rear of vehicle, it is preferable that such as Fig. 7
Shown in, the front and rear of the vehicle of the present invention is provided with described wheel steering mechanism, and, in place
In the described wheel steering mechanism of front part of vehicle, described first junction point 4 and the second junction point 5 are positioned at
The front side of described axletree 3；In the described wheel steering mechanism being positioned at vehicle rear, described first connects
Point 4 and the second junction point 5 are positioned at the rear side of described axletree 3.In this manner it is possible to make the car of the present invention
Have and multiple to turn to pattern.
Specifically, being illustrated in figure 8 phase reversal and turn to, now front wheels and rear wheels deflects towards different directions,
So enable to vehicle and greatly reduce turning radius, be particularly well-suited to the turning in narrow and small area.
Being illustrated in figure 9 oblique pattern, now front wheels and rear wheels deflects towards equidirectional, the most permissible
Emergency avoidance barrier so that headstock and the tailstock move in the same direction, improves travel safety and convenience.
Being pivot stud pattern as shown in Figure 10, now a pair front-wheel and pair of rear wheels are all in " eight " word
Shape is arranged, in this case, enables a pair front-wheel rotate towards different directions by the way of certain
And make pair of rear wheels also can rotate towards different directions, it is possible to achieve vehicle entirety turns around the center of vehicle body
Dynamic, i.e. to do pivot stud motion.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention does not limit
Detail in above-mentioned embodiment, in the technology concept of the present invention, can be to the present invention
Technical scheme carry out multiple simple variant, these simple variant belong to protection scope of the present invention.Example
As, although foregoing describes only and start additionally while one rotary drive unit of startup rotates forward
One or two rotary drive unit reversely rotate, but, it will be appreciated by those skilled in the art that
It is, when starting a rotary drive unit and rotating forward, it is also possible to do not start other one or two
Individual rotary drive unit, but utilize the pulling force of corresponding drag-line to make this one or two other rotation drive
Unit reversely rotates passively.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention,
In the case of reconcilable, can be combined by any suitable means.In order to avoid unnecessary
Repeating, various possible compound modes are illustrated by the present invention the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as its
Without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (11)
1. a wheel steering mechanism, including axletree (3) be arranged on the of this axletree (3) two ends
One wheel (1) and the second wheel (2), described first wheel (1) and the second wheel (2) are upper respectively
Being provided with the first knuckle and the second knuckle, described first knuckle has the first junction point (4), institute
State the second knuckle and there is the second junction point (5), described first junction point (4) and the second junction point (5)
It is positioned at the same side of described axletree (3), it is characterised in that described wheel steering mechanism also includes turning to
Device and returning device, described transfer includes the first rotary drive unit (61) and the first drag-line (62),
The two ends of described first drag-line (62) are connected to described first junction point (4) and the second junction point
(5), the output shaft (611) of described first rotary drive unit (61) can drive described first to draw
Rope (62) is wound on it, so that described first wheel (1) and the second wheel (2) reversely deflect,
Described returning device can make described first wheel (1) after deflection and the second wheel (2) return.
Wheel steering mechanism the most according to claim 1, it is characterised in that described first rotates
Reel (63), described first drag-line (62) it is provided with on the output shaft (611) of driver element (61)
It is wrapped on this reel (63).
Wheel steering mechanism the most according to claim 1, it is characterised in that described first rotates
Driver element (61) is motor.
4. according to the wheel steering mechanism described in any one in claim 1-3, it is characterised in that
Described first knuckle also has the 3rd junction point (8), and the 3rd junction point (8) is positioned at described axletree
(3) the side contrary with described first junction point (4), described second knuckle also has the 4th even
Contact (9), the 4th junction point (9) is that be positioned at described axletree (3) with described second junction point (5)
Contrary side, described returning device includes the second rotary drive unit (71) and the second drag-line (72),
The two ends of described second drag-line (72) are connected to described 3rd junction point (8) and the 4th junction point
(9), the output shaft of described second rotary drive unit (71) can drive described second drag-line (72)
It is wound on it, so that described second drag-line (72) shortens.
Wheel steering mechanism the most according to claim 4, it is characterised in that described transfer
Identical with returning device structure.
6. according to the wheel steering mechanism described in any one in claim 1-3, it is characterised in that
Described first knuckle also have lay respectively at before and after described axletree (3) the first of both sides before junction point (11)
With first after junction point (12), before and after described second knuckle also has and lays respectively at described axletree (3)
Junction point (14) after junction point (13) and second before the second of both sides, described returning device includes first
Returning device and the second returning device, described first returning device includes the second rotary drive unit (71)
With the second drag-line (72), the second returning device includes the 3rd rotary drive unit (101) and the 3rd drag-line
(102) before, the two ends of described second drag-line (72) are connected to described first junction point (11) and
Junction point (14) after second, the output shaft of described second rotary drive unit (71) can drive described
Second drag-line (72) is wound on it, so that described second drag-line (72) shortens；Described 3rd drag-line
(102) two ends be connected to described first after junction point (13) before junction point (12) and second,
The output shaft of described 3rd rotary drive unit (101) can drive described 3rd drag-line (102) to be wound around
On it, so that described 3rd drag-line (102) shortens.
Wheel steering mechanism the most according to claim 6, it is characterised in that connect before described first
Contact (11), junction point (12) after first, junction point (13) before second, junction point (14) after second
The most equal to the distance of described axletree (3).
Wheel steering mechanism the most according to claim 6, it is characterised in that connect before described first
Contact (11) is identical with described first junction point (4) position, before described second junction point (13) and
Described second junction point (5) position is identical.
Wheel steering mechanism the most according to claim 6, it is characterised in that described transfer,
First returning device and the second returning device structure are identical.
10. a vehicle, it is characterised in that be provided with on this vehicle and appoint according in claim 1 to 9
One described wheel steering mechanism.
11. vehicles according to claim 10, it is characterised in that the front and rear of this vehicle
It is provided with described wheel steering mechanism, in the described wheel steering mechanism being positioned at front part of vehicle, described
First junction point (4) and the second junction point (5) are positioned at the front side of described axletree (3)；It is being positioned at car
In the described wheel steering mechanism at rear portion, described first junction point (4) and the second junction point (5) position
Rear side in described axletree (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283039.3A CN106275070B (en) | 2015-05-27 | 2015-05-27 | Wheel steering mechanism and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283039.3A CN106275070B (en) | 2015-05-27 | 2015-05-27 | Wheel steering mechanism and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106275070A true CN106275070A (en) | 2017-01-04 |
| CN106275070B CN106275070B (en) | 2018-10-16 |
Family
ID=57635577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510283039.3A Active CN106275070B (en) | 2015-05-27 | 2015-05-27 | Wheel steering mechanism and vehicle |
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| Country | Link |
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| CN (1) | CN106275070B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323524A (en) * | 2017-07-20 | 2017-11-07 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07329814A (en) * | 1994-06-14 | 1995-12-19 | Sanwa Unyu Kogyo Kk | Rear wheel steering device for u-type frame vehicle |
| KR19980054196U (en) * | 1996-12-31 | 1998-10-07 | 조희재 | I / Q demodulation circuit of tuner for digital satellite broadcasting reception |
| JP2008126998A (en) * | 2006-11-17 | 2008-06-05 | Yutaka Abe | Steering device for completely concentrating axle directions of whole wheels |
| CN101873961A (en) * | 2007-11-22 | 2010-10-27 | 丰田自动车株式会社 | Vehicle steering device |
| CN203126949U (en) * | 2013-02-22 | 2013-08-14 | 同济大学 | Drive-by-wire independent steering system of cable transmission two-transverse-arm suspension frame |
-
2015
- 2015-05-27 CN CN201510283039.3A patent/CN106275070B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07329814A (en) * | 1994-06-14 | 1995-12-19 | Sanwa Unyu Kogyo Kk | Rear wheel steering device for u-type frame vehicle |
| KR19980054196U (en) * | 1996-12-31 | 1998-10-07 | 조희재 | I / Q demodulation circuit of tuner for digital satellite broadcasting reception |
| JP2008126998A (en) * | 2006-11-17 | 2008-06-05 | Yutaka Abe | Steering device for completely concentrating axle directions of whole wheels |
| CN101873961A (en) * | 2007-11-22 | 2010-10-27 | 丰田自动车株式会社 | Vehicle steering device |
| CN203126949U (en) * | 2013-02-22 | 2013-08-14 | 同济大学 | Drive-by-wire independent steering system of cable transmission two-transverse-arm suspension frame |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323524A (en) * | 2017-07-20 | 2017-11-07 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106275070B (en) | 2018-10-16 |
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