CN106672114A - Omni-directional driving wheel device and AGV (automatic guided vehicle) - Google Patents
Omni-directional driving wheel device and AGV (automatic guided vehicle) Download PDFInfo
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- CN106672114A CN106672114A CN201710115595.9A CN201710115595A CN106672114A CN 106672114 A CN106672114 A CN 106672114A CN 201710115595 A CN201710115595 A CN 201710115595A CN 106672114 A CN106672114 A CN 106672114A
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- driving wheel
- wheel device
- omnidirectional
- connecting seat
- gear
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 10
- 230000032258 transport Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to the field of logistics transport equipment, in particular to an omni-directional driving wheel device and an AGV (automatic guided vehicle). The omni-directional driving wheel device comprises a fixing seat, a driving device, a transmission actuator, a wheel and a steering device. The wheel comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotationally connected with the fixing seat; the driving device is in transmission connection with an axle of the driving wheel by the transmission actuator, so that the driving wheel can be driven to rotate; the steering device is mounted on the fixing seat and is connected with the AGV, so that the AGV can omni-directionally move. The AGV comprises the omni-directional driving wheel device. The omni-directional driving wheel device and the AGV have the advantages that the omni-directional driving wheel device is simple in structure and low in cost and control difficulty; the AGV has omni-directional moving functions, and accordingly the production or storage efficiency can be improved.
Description
Technical field
The present invention relates to logistics haulage equipment field, more particularly, to a kind of omnidirectional driving wheel device and AGV dollies.
Background technology
AGV dollies be it is a kind of can be along the guide path of regulation traveling, with safeguard protection and various transfer functions
Transport vehicle, due to its have high degree of automation, safety, it is flexible the features such as, be that the current country realizes material automatic transporting most
One of good solution route.
At present many workshops or warehouse using AGV dollies come conveying articles, with the effect for improving production or store
Rate.Due to being limited by place, AGV dollies need to have the function of Omni-mobile, i.e. pivot stud and towards any direction row
Sail.
Existing Mecanum wheel can realize omnidirectional moving, but relatively costly, heavy burden is low.Spider gear group is with two motors
To drive a train, the steering of train is realized by the different speed of two wheels, its advantage is large carrying capacity, efficiency
Height, has had the disadvantage a motor many, especially in the process of moving adjustment direction when, control difficulty increase.
The content of the invention
It is an object of the invention to provide a kind of omnidirectional driving wheel device, the purpose of the omnidirectional driving wheel device is to solve
The defect that driving wheel apparatus in prior art in AGV dollies are present.
For achieving the above object, the present invention provides technical scheme below：
A kind of omnidirectional driving wheel device, including：Fixed seat, driving means, actuating device, wheel and transfer；
The wheel includes rotating the drivewheel and driven pulley being connected with the fixed seat；
The driving means are connected by the actuating device with the wheel shaft of the drivewheel, to drive actively rotation
It is dynamic；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize dolly omnidirectional
Motion.
Further, the fixed seat is rotated with the wheel shaft of wheel by support and is connected.
Further, the transfer includes steer motor, drive mechanism and connecting seat；
The drive mechanism is connected with the drive axis arranged in fixed seat；
The steer motor is connected with the drive mechanism；
The connecting seat is rotatably connected on the power transmission shaft in the fixed seat, while the connecting seat and the transmission
Mechanism is fixedly connected, and the connecting seat is rotated also to connect dolly by steer motor adjusting transmission mechanism, so that omnidirectional drives
Driving wheel device is turned to relative to dolly.
The drive mechanism adopts gear drive, chain drive or bel-drivenn mode.
Further, the drive mechanism includes the driving gear that is meshed and driven gear, the driving gear with turn
Connect to the output shaft of motor, the driven gear is rotatably connected on the power transmission shaft, meanwhile, the driven gear with it is described
Connecting seat is affixed.
Further, the driven gear with diameter greater than driving gear diameter.
Further, also including angle detection device, the angle detection device is relative to detect the transfer
In the anglec of rotation of trolley.
Further, the angle detection device includes angular transducer and limit body；
The angular transducer is fixed on the power transmission shaft, and the axle of the angular transducer is connected with limit body one end
Connect, the connecting seat middle part is provided with to accommodate the draw-in groove of the limit body, and the limit body is connected in the card of the connecting seat
In groove.
Further, the actuating device adopts gear drive, V belt translation or Chain conveyer.
A kind of AGV dollies disclosed by the invention, including omnidirectional driving wheel device as above.
With reference to the omnidirectional driving wheel device that above technical scheme, the present invention are provided, with advantages below：
1st, driven jointly by driving means and transfer, the device is arbitrarily turned to 360 degrees omnidirection, while
The pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can precise control wheel direction, dolly traveling deviation it is little；
4th, driven (equivalent to two wheels are driven simultaneously) by the way of drivewheel using a driving means, control ratio two
Motor drives be more prone to respectively.
5th, the simple structure of this device, low cost, control difficulty is low.
Using the AGV dollies of above-mentioned omnidirectional driving wheel device, with advantages below：
1st, driven jointly by driving means and transfer, the AGV dollies is arbitrarily turned to 360 degrees omnidirection,
The pivot stud that radius of turn is zero can be realized simultaneously.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, steer motor precise control wheel direction, AGV dollies traveling deviation is little；
4th, two wheels of a Motor drive, it is more convenient that two motors of control ratio drive respectively.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the structural representation at the visual angle of omnidirectional driving wheel device first that embodiment one is provided；
Fig. 2 is the structural representation at the second visual angle in the omnidirectional driving wheel device that embodiment one is provided；
Fig. 3 is the structural representation at the 3rd visual angle in the omnidirectional driving wheel device that embodiment one is provided；
Fig. 4 is the structural representation of fixed seat in the omnidirectional driving wheel device that the embodiment of the present invention one is provided.
Reference：
100- fixed seats；101- supports；200- driving means；300- actuating devices；400- wheels；401- drivewheels；
402- driven pulleys；500- transfers；501- steer motor；502- connecting seats；503- driving gears；504- driven gears；
600- power transmission shafts；700- angle detection devices, 701- angular transducers；702- limit bodies.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described enforcement
Example is a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to description the present invention and simplify description, rather than indicate or imply indication device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment one
A kind of omnidirectional driving wheel device is present embodiments provided, the device can be travelled to any direction, using a drive
Dynamic device drives drivewheel, so that driven pulley synchronous axial system, (drives two cars equivalent to using a driving means simultaneously
Wheel), it is relative with prior art in for version using two Motor drives, one train, two electricity of this device control ratio
Machine drives respectively convenient.
The concrete structure of the omnidirectional driving wheel device that the present invention is provided is illustrated below：
Refer to shown in Fig. 1 to Fig. 4；
The device includes：Fixed seat 100, driving means 200, actuating device 300, wheel 400 and transfer 500.
The wheel 400 includes rotating the drivewheel 401 and driven pulley 402 being connected with the fixed seat 100；
The driving means 200 are connected by the actuating device 300 with the wheel shaft of the drivewheel 401, to drive
Dynamic drivewheel 401 is rotated；
The transfer 500 is arranged in fixed seat 100, meanwhile, the transfer 500 is connected with dolly, with reality
Existing dolly omnidirectional moving.
Driving means 200 can be using devices such as motor, hydraulic-driven or pneumatic actuations.
Used as an optimal technical scheme of the present invention, above-mentioned driving means 200 adopt motor, driving means 200
It is connected with fixed seat 100, specifically on the bottom surface of fixed seat 100, driving means 200 can adopt what is be fixedly connected
On the bottom surface of mode mounting-fixing base 100；Can also be connected with fixed seat 100 using removably, for example, can be adopted
The mode that bolt is fixed, when driving means 200 produce failure, in order to dismantle to driving means 200.
Used as an optimal technical scheme of the present invention, the two bottom sides of the fixed seat 100 are provided with support 101, Gu
Reservation 100 is rotated with the wheel shaft of wheel 400 by support 101 and is connected.The effect for arranging support 101 is the wheel shaft to wheel 400
Enough supports are provided, to guarantee when journey is run over, can provide safeguard enough stability.
Used as an optimal technical scheme of the present invention, support 101 is rotated by bearing with the wheel shaft of wheel 400 and is connected.
Used as an optimal technical scheme of the present invention, actuating device can adopt various type of belt drive, for example, can be
The kinds of drive such as gear drive, V belt translation or Chain conveyer.
Used as an optimal technical scheme of the present invention, transfer 500 is connected using removably with fixed seat 100
Connect, when transfer 500 produces failure, in order to the corresponding parts in transfer 500 detachable maintaining is carried out.
Fig. 4 is refer to, as an optimal technical scheme of the present invention, at the middle part of fixed seat 100 one is vertically arranged with
Power transmission shaft 600, power transmission shaft 600 is fixedly connected with fixed seat 100, and transfer 500 is rotated with the power transmission shaft 600 and is connected.
Used as an optimal technical scheme of the present invention, the transfer 500 includes steer motor 501, drive mechanism
With connecting seat 502.
The drive mechanism is rotated with the power transmission shaft 600 arranged in fixed seat 100 and is connected；
The steer motor 501 is connected with the drive mechanism；
The connecting seat 502 is rotatably connected on the power transmission shaft of the fixed seat 100, meanwhile, the connecting seat 502 with
The drive mechanism is fixedly connected, the connecting seat 502 also to connect dolly, by the adjusting transmission mechanism of steer motor 501
Rotate, so that omnidirectional driving wheel device is turned to relative to dolly, be ultimately converted to the turning function of dolly.
Used as an optimal technical scheme of the present invention, above-mentioned steer motor 501 is arranged on the bottom surface of fixed seat 100
On, because connecting seat 502 with dolly when being connected, it is contemplated that gap between the two is less, so installing steer motor 501
Space can be used with reasonable utilization on the bottom surface of fixed seat 100, optimize structure.
In addition, the steer motor 501 is equally using the mode that is fixedly connected or dismountable connected mode and fixed seat 100
It is attached.
As an optimal technical scheme of the present invention, the drive mechanism include the driving gear 503 that is meshed and from
Moving gear 504, driving gear 503 and driven gear 504 are meshed connection；The driving gear 503 is defeated with steer motor 501
Shaft connects, and the driven gear 504 is rotatably connected on the power transmission shaft 600, meanwhile, the driven gear 504 with it is described
Connecting seat 502 is affixed.
Used as an optimal technical scheme of the present invention, driven gear 504 is rotated by bearing with power transmission shaft 600 and is connected,
Meanwhile, driven gear 504 is connected by bearing pin with connecting seat 502.
The center of rotation of driven gear 504 and power transmission shaft 600 in fixed seat 100 and the center of rotation phase of connecting seat 502
Overlap and arrange, to ensure that whole driving wheel apparatus have good steering behaviour.
As the present invention an optimal technical scheme, the driven gear 504 it is straight with diameter greater than driving gear 503
Footpath.During regulation, power is transferred to driven gear 504 by driving gear 503, and driving gear 503 is rotated around driven gear,
Can realize that the more precise control to turning to is adjusted.
Used as an optimal technical scheme of the present invention, connecting seat 502 is set to tabular, also, connecting seat 502, solid
Reservation 100, driving gear 503, driven gear 504 are horizontally disposed with, so that the power output of driving means 200 is converted to the device
Rotary motion.
As the power transmission shaft in an optimal technical scheme of the present invention, the connecting seat 502 and the fixed seat 100
600 rotate connection.Bearing can be set on power transmission shaft 600, and connecting seat 502 is rotated with the power transmission shaft 600 by bearing and connected
Connect.
It should be noted that the gear that the drive mechanism of this device is not limited to be made up of driving gear and driven gear is passed
Flowing mode, can also be using V belt translation or the chaindriven kind of drive；During using V belt translation mode, can be in the defeated of motor
On shaft and corresponding belt wheel is respectively mounted on connecting seat, transmission agency is realized using V belt translation mode.Certainly Chain conveyer is adopted
During mode, corresponding sprocket wheel can be respectively mounted on the output shaft of motor and on connecting seat, realize transmission agency.
As an optimal technical scheme of the present invention, also including angle detection device 700.
The angle detection device 700 is to detect the anglec of rotation of the transfer 500 relative to trolley.
Specifically, the angle detection device 700 includes angular transducer 701 and limit body 702.
The angular transducer 701 is fixed on the power transmission shaft 600, the axle and limit body of the angular transducer 701
702 one ends are connected, and are provided with to accommodate the draw-in groove of the limit body 702, the limit body at the middle part of the connecting seat 502
702 are connected in the draw-in groove of the connecting seat 502.In the course of work, connecting seat 502 is fixedly connected with dolly, and limit body 702 is consolidated
Be scheduled in the draw-in groove of connecting seat 502, under the driving of driving means, fixed seat 100 relative to connecting seat 502 rotate when, fixed seat
Power transmission shaft 600 on 100 drives angular transducer 701 to be driven, and then realizes the real-time acquisition of the anglec of rotation to the device.
The omnidirectional driving wheel device that the present invention is provided, has the characteristics that：
1st, driven jointly by driving means and transfer, the device is arbitrarily turned to 360 degrees omnidirection, while
The pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can precise control wheel direction, dolly traveling deviation it is little；
4th, driven (equivalent to two wheels are driven simultaneously) by the way of drivewheel using a driving means, control ratio two
Motor drives be more prone to respectively.
5th, the simple structure of this device, low cost, control difficulty is low.
Embodiment two
Fig. 4 is refer to, the purpose of the present embodiment is to provide a kind of AGV dollies, including omnidirectional driving wheel as above
Device.
During concrete setting, multiple above-mentioned omnidirectional driving wheel devices can be set in the bottom of AGV dollies.
Using the AGV dollies of above-mentioned omnidirectional driving wheel device, with advantages below：
1st, driven jointly by driving means and transfer, the AGV dollies is arbitrarily turned to 360 degrees omnidirection,
The pivot stud that radius of turn is zero can be realized simultaneously.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, steer motor precise control wheel direction, AGV dollies traveling deviation is little；
4th, two wheels of a Motor drive, it is more convenient that two motors of control ratio drive respectively.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to invention, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are carried out
Equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technical side of appropriate technical solution
The scope of case.
Claims (10)
1. a kind of omnidirectional driving wheel device, it is characterised in that include：Fixed seat, driving means, actuating device, wheel and steering
Device；
The wheel includes rotating the drivewheel and driven pulley being connected with the fixed seat；
The driving means are connected by the actuating device with the wheel shaft of the drivewheel, to drive drivewheel to rotate；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize that dolly omnidirectional transports
It is dynamic.
2. omnidirectional driving wheel device according to claim 1, it is characterised in that the fixed seat is by support and wheel
Wheel shaft rotates connection.
3. omnidirectional driving wheel device according to claim 1, it is characterised in that the transfer include steer motor,
Drive mechanism and connecting seat；
The drive mechanism is connected with the drive axis arranged in fixed seat；
The steer motor is connected with the drive mechanism；
The connecting seat is rotatably connected on the power transmission shaft in the fixed seat, while the connecting seat and the drive mechanism
It is fixedly connected, the connecting seat is rotated also to connect dolly by steer motor adjusting transmission mechanism, so that omnidirectional driving wheel
Device is turned to relative to dolly.
4. omnidirectional driving wheel device according to claim 3, it is characterised in that the drive mechanism using gear drive,
Chain drive or bel-drivenn mode.
5. omnidirectional driving wheel device according to claim 3, it is characterised in that the drive mechanism includes the master being meshed
Moving gear and driven gear, the driving gear is connected with the output shaft of steer motor, and the driven gear is rotatably connected on institute
State on power transmission shaft, meanwhile, the driven gear is affixed with the connecting seat.
6. omnidirectional driving wheel device according to claim 5, it is characterised in that the driven gear with diameter greater than actively
Gear diameter.
7. omnidirectional driving wheel device according to claim 3, it is characterised in that also including angle detection device, the angle
Degree detection means is to detect the anglec of rotation of the transfer relative to trolley.
8. omnidirectional driving wheel device according to claim 7, it is characterised in that the angle detection device includes that angle is passed
Sensor and limit body；
The angular transducer is fixed on the power transmission shaft, and the axle of the angular transducer is connected with limit body one end,
The connecting seat middle part is provided with to accommodate the draw-in groove of the limit body, and the limit body is connected in the draw-in groove of the connecting seat
It is interior.
9. omnidirectional driving wheel device according to claim 1, it is characterised in that the actuating device using gear drive,
V belt translation or Chain conveyer.
10. a kind of AGV dollies, it is characterised in that include the omnidirectional driving wheel device as described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115595.9A CN106672114A (en) | 2017-02-28 | 2017-02-28 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115595.9A CN106672114A (en) | 2017-02-28 | 2017-02-28 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
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| CN106672114A true CN106672114A (en) | 2017-05-17 |
Family
ID=58862741
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| CN201710115595.9A Pending CN106672114A (en) | 2017-02-28 | 2017-02-28 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600149A (en) * | 2017-10-21 | 2018-01-19 | 广东九御酒业有限公司 | A kind of wheel with turning function and speed-regulating function |
| CN108146496A (en) * | 2017-12-27 | 2018-06-12 | 盐城子渊机电科技有限公司 | It shines grain and collects machine automatically |
| CN108189929A (en) * | 2018-02-24 | 2018-06-22 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
| CN109305248A (en) * | 2017-07-27 | 2019-02-05 | 沈阳新松机器人自动化股份有限公司 | Stage automatic guided vehicle |
| CN109968311A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walking chassis mechanism and robot |
| CN111137373A (en) * | 2018-11-02 | 2020-05-12 | 杭州海康机器人技术有限公司 | Unmanned guided vehicle and chassis thereof |
| CN111376228A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rotation mechanism and overhead rail robot |
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
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|---|---|---|---|---|
| CN109305248A (en) * | 2017-07-27 | 2019-02-05 | 沈阳新松机器人自动化股份有限公司 | Stage automatic guided vehicle |
| CN107600149A (en) * | 2017-10-21 | 2018-01-19 | 广东九御酒业有限公司 | A kind of wheel with turning function and speed-regulating function |
| CN108146496A (en) * | 2017-12-27 | 2018-06-12 | 盐城子渊机电科技有限公司 | It shines grain and collects machine automatically |
| CN109968311A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walking chassis mechanism and robot |
| CN108189929A (en) * | 2018-02-24 | 2018-06-22 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
| CN111137373A (en) * | 2018-11-02 | 2020-05-12 | 杭州海康机器人技术有限公司 | Unmanned guided vehicle and chassis thereof |
| CN111137373B (en) * | 2018-11-02 | 2023-11-21 | 杭州海康机器人股份有限公司 | Unmanned guided vehicle and chassis thereof |
| CN111376228A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rotation mechanism and overhead rail robot |
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN111845919B (en) * | 2020-07-03 | 2023-09-01 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
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Application publication date: 20170517 |