CN106696682A - Double-supporting steering driving wheel - Google Patents
Double-supporting steering driving wheel Download PDFInfo
- Publication number
- CN106696682A CN106696682A CN201710006157.9A CN201710006157A CN106696682A CN 106696682 A CN106696682 A CN 106696682A CN 201710006157 A CN201710006157 A CN 201710006157A CN 106696682 A CN106696682 A CN 106696682A
- Authority
- CN
- China
- Prior art keywords
- steering
- dual
- gripper
- wheel
- drive
- 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
Classifications
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/062—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels acting on transmission parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
Abstract
The invention provides a double-supporting steering driving wheel. The double-supporting steering driving wheel comprises a steering mounting plate, a double-supporting driving wheel, a steering driving component and a steering position component, wherein the double-supporting driving wheel is arranged on the lower end surface of the steering mounting plate; and the steering driving component is arranged correspondingly to the double-supporting driving wheel. A steering gear is arranged on the steering mounting plate; the steering driving device comprises a steering driving device and a first transmission gear, wherein the steering driving device is arranged on the steering mounting plate, and the first transmission gear is connected with the steering driving device and matched with the steering gear; and the steering position component comprises a steering position device and a second transmission gear, wherein the steering position device is arranged on the lower end surface of the steering mounting plate, and the second transmission gear is connected with the steering position device and matched with the steering gear. Due to double side supporting, the double-supporting steering driving wheel has the advantages that the bearing capacity of the driving wheel can be enhanced, the structure of the driving wheel is simple, the volume of the driving wheel is small, the driving wheel can match different motor inputs and is integrated with braking, and the power flexible controlling ability of an automated guided vehicle (AGV) is enhanced.
Description
Technical field
The present invention relates to electrical vehicular power device, particularly mobile robot and AGV its field of power equipment technology, tool
Body, a kind of its dual-gripper steerable drive wheel of displaying.
Background technology
AGV belongs to the category of wheeled mobile robot, is（Automated Guided Vehicle）Abbreviation, imply that
" automatical pilot transportation vehicle ", refers to be equipped with electricity magnetically or optically to wait homing guidance device, and it can be along the guide path row of regulation
Sail, the transport vehicle with safeguard protection and various transfer functions constantly will independently change direction during traveling.
Driving wheel is the power part of AGV, but the driving wheel unilateral structure being supported of use wheel at this stage, causes to drive
The carrying of driving wheel is not high, the problems such as physical dimension is limited, accessory is single；
Be used for the driving wheel for rotating in particularly AGV, setting form at this stage need configuration to individual steering angle inductor with
And multiple tumblers coordinate, the too fat to move complexity of structure, and volume is larger, is unfavorable for that miscellaneous part is arranged.
Therefore, it is necessary to provide a kind of dual-gripper steerable drive wheel to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of dual-gripper steerable drive wheel, it has bi-lateral support, can improve driving wheel
Carrying, structure simplifies, and takes small volume, while different motors inputs can be matched, and integrates and brakes, raising AGV
The flexible controlling of power.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of dual-gripper steerable drive wheel, including turn to installing plate, be arranged at double branch of the lower end surface for turning to installing plate
Steering drive component and steering position component that support driving wheel and the dual-gripper driving wheel are correspondingly arranged；Described steering is installed
It is provided with tooth sector on plate, steer-drive that the steer-drive includes being arranged on the steering installing plate,
And be connected to the steer-drive and the first Transmission gear for being used cooperatively with the tooth sector, the steering position
Put component include be arranged at it is described steering installing plate lower end surface steering position device, be connected to the steering position device and
The second Transmission gear used cooperatively with the tooth sector.
When being turned to, the steer-drive drives first Transmission gear, first Transmission gear to drive
The tooth sector is rotated, and the dual-gripper driving wheel for being now arranged at the steering installing plate lower end is driven by the tooth sector
Rotate and realize turning to；Rotation is transferred to institute by the tooth sector after rotation is delivered into second Transmission gear simultaneously
Steering position device is stated, now the steering position device feeds back the amount of spin and position relationship of the dual-gripper driving wheel to AGV；
Further, the tooth sector is connected on the steering bearing set on the steering installing plate, and described steering is pacified
Dress plate open up limited location detection hole and the steering installing plate lower end surface be provided with it is corresponding with the spacing detection hole
Electronic stopper, is provided with the caging bolt being used in combination with the electronic stopper on the tooth sector.
By setting the electronic stopper and the caging bolt, prevent the tooth sector amount of spin excessive so as to lead
Cause the amount of spin of dual-gripper driving wheel excessive, further the rotation range of limitation dual-gripper driving wheel.
Further, the dual-gripper driving wheel includes dual-gripper reduction box wheel, is respectively arranged at the dual-gripper deceleration
The drive device and brake of case wheel both sides and the support meanss being connected with the dual-gripper reduction box wheel, the dual-gripper
Reduction box wheel includes drive end bearing bracket and rear end cap, and the support meanss include the supporting plate being connected with the steering installing plate, described
Supporting plate lower end both sides are provided with the support feet for being fixedly connected with the drive end bearing bracket and the rear end cap.
By setting the support meanss, support pin is connected to drive end bearing bracket and institute described in a pair of the support meanss
Rear end cap is stated, the dual-gripper reduction box wheel two ends is supported, improve the bearing capacity of dual-gripper reduction box wheel, and then
Improve the bearing capacity of AGV；
By setting the dual-gripper reduction box wheel, its as AGV driving dynamics, by setting the brake, it can
Quickly control the dual-gripper reduction box wheel walks to stop to realize that AGV positions are moved.
Further, the dual-gripper reduction box wheel includes reducing gear and is arranged at the reducing gear outer end
Dynamic wheel；The drive end bearing bracket and the rear end cap are symmetricly set in the both sides of the reducing gear.
Further, the dynamic wheel includes the car that reduction box casing and the reduction box casing outer end are enclosed with
Wheel is encapsulated.
Further, the reducing gear is provided with the power output frame of power output body, the deceleration including outer surface
Tank shell inner surface setting has the power used with the power output mates to access body.
Further, the power output body is made up of gear, and the power accesses body by the internal tooth that matches with gear
Circle is constituted.
Further, the power output frame both sides are respectively arranged with rotary shaft and power input device, the rotary shaft
The drive end bearing bracket is penetrated to be connected with the brake, and drive device is made up of motor, the motor shaft of motor passes through the rear end
Lid is connected with the power input device.
Further, it is provided with the power output frame and is made up of bearing with what the reduction box casing was used in combination
Rotor.
Further, the drive end bearing bracket and the rear end cap are by the fixture being made up of bolt and the power output
Frame is fixedly connected.
Compared with prior art, a kind of dual-gripper steerable drive wheel, it has bi-lateral support, can improve holding for driving wheel
Carry, structure simplifies, take small volume, while different motors inputs can be matched, and integrate and brake, raising AGV power
Flexible controlling.
Brief description of the drawings
Fig. 1 is the structural representation of embodiments of the invention；
Fig. 2 is the structural representation of dual-gripper driving wheel in Fig. 1；
Fig. 3 is the structural representation of dual-gripper reduction box wheel in Fig. 1；
Numeral is represented in figure：
100 dual-gripper reduction box wheels
1 fixture；
2 drive end bearing brackets；
3 rotors；
4 reducing gears, 41 rotary shafts, 42 power output bodies, 43 power output framves；
5 dynamic wheels, 51 shell of reduction boxes, 52 wheels are encapsulated；
6 power input devices；
7 rear end caps；
101 support meanss, 102 brakes, 103 drive devices；
200 steer-drives, 201 first Transmission gears；
300 steering position components, 302 second Transmission gears；
400 turn to installing plate, 401 electronic stoppers；
500 tooth sectors, 501 steering bearings；
600 caging bolts.
Specific embodiment
Embodiment
The present embodiment shows a kind of dual-gripper steerable drive wheel：
Fig. 1 is referred to, dual-gripper steerable drive wheel includes turning to installing plate 400, is arranged at the lower end surface for turning to installing plate 400
Dual-gripper driving wheel（Do not marked in figure）With dual-gripper driving wheel（Do not marked in figure）The steering drive component being correspondingly arranged
200 and steering position component 300；
Turn to and tooth sector 500 is provided with installing plate 400, steer-drive 200 includes being arranged on steering installing plate 400
Steer-drive（Do not marked in figure）And it is connected to steer-drive（Do not marked in figure）And and tooth sector
500 the first Transmission gears 201 for using cooperatively；
Steering position component 300 includes being arranged at the steering position device of the lower end surface for turning to installing plate 400（Do not marked in figure）、
It is connected to steering position device（Do not marked in figure）And the second Transmission gear 301 for being used cooperatively with tooth sector 500；
When being turned to, steer-drive（Do not marked in figure）Drive the first Transmission gear 201, the band of the first Transmission gear 201
Dynamic tooth sector 500 is rotated, and is now arranged at the dual-gripper driving wheel for turning to the lower end of installing plate 400（Do not marked in figure）By turning to
Gear 500 drives rotate and realizes turning to；
Rotation is transferred to steering position device 302 by tooth sector 500 after rotation is delivered into the second Transmission gear 301 simultaneously, this
When steering position device 302 amount of spin and position relationship of dual-gripper driving wheel are fed back to AGV；
Tooth sector 500 is connected on the steering bearing 501 for turning to and being set on installing plate 400, and steering installing plate 400 is offered
Spacing detection hole（Do not marked in figure）And the lower end surface of steering installing plate 400 is provided with and spacing detection hole（Do not marked in figure）
Corresponding electronic stopper 401, is provided with the caging bolt 600 being used in combination with electronic stopper on tooth sector 500；
By setting electronic stopper 401 and caging bolt 600, prevent the amount of spin of tooth sector 500 excessive so as to cause double branch
Support driving wheel（Do not marked in figure）Amount of spin it is excessive, further limitation dual-gripper driving wheel（Do not marked in figure）Rotation it is maximum
Stroke；
Refer to Fig. 2, dual-gripper driving wheel（Do not marked in figure）Including dual-gripper reduction box wheel 100, it is respectively arranged at dual-gripper
The drive device 103 and brake 102 of the both sides of reduction box wheel 100 and the support meanss being connected with dual-gripper reduction box wheel 100
101, dual-gripper reduction box wheel 100 includes drive end bearing bracket 2 and rear end cap 7, and support is filled, and 101 include and turn to what installing plate 400 was connected
Supporting plate（Do not marked in figure）, supporting plate（Do not marked in figure）Lower end both sides are provided with for solid with drive end bearing bracket 2 and rear end cap 7
The support feet of fixed connection（Do not marked in figure）.
By setting support meanss 101, a pair of support meanss 101 support that pin is connected to drive end bearing bracket 2 and rear end cap
7, the two ends of dual-gripper reduction box wheel 100 is supported, the bearing capacity of dual-gripper reduction box wheel 100 is improved, and then improve
The bearing capacity of AGV；
By setting dual-gripper reduction box wheel 100, its as AGV driving dynamics, by setting brake 102, it can be fast
Speed control dual-gripper reduction box wheel walk to stop to realize AGV positions movement.
Reference picture 1-3, dual-gripper reduction box wheel 100 includes reducing gear 4, is arranged at the drive end bearing bracket 2 of the both sides of reducing gear 4
With rear end cap 7 and it is arranged at the dynamic wheel 5 of the outer end of reducing gear 4；
Dynamic wheel 5 include shell of reduction box 51 and be arranged at the outer end of shell of reduction box 51 wheel it is encapsulated；
Reducing gear 4 is provided with the power output frame 43 of power output body 42, the inner surface setting of reduction box casing 5 including outer surface
There is the power being used in combination with power output body 42 to access body（Do not show in figure）；
It is the power transmission structure of optimal displaying the present embodiment, the present embodiment optimum state is：Power output body 42 is by gear structure
Into power accesses body（Do not show in figure）It is made up of the ring gear matched with gear；
The both sides of power output frame 43 are respectively arranged with rotary shaft 41 and power input device 6, rotary shaft 41 penetrate after drive end bearing bracket 2 with
Brake 102 is connected, and drive device 104 is made up of motor, and the motor shaft of motor passes through rear end cap 7 and power input device
（It is not shown）Connection；
The rotor 3 being made up of bearing being used in combination with reduction box casing 5 is provided with power output frame 43.
Drive end bearing bracket 2 and rear end cap 7 are fixedly connected by the fixture 1 being made up of bolt with power output frame 43.
By setting reducing gear 4 and dynamic wheel 5, subtract and accessed by power output body 42 and power when mechanism 4 rotates
Body（Do not show in figure）Reduction box casing 51 is driven to rotate, now, reduction box casing 51 and the wheel for setting thereon encapsulated 52
It is overall to be used as power set, overcome existing reduction box to cause power set using axle output or flange output power to road wheel
The too fat to move defect of structure；
The rotor being made up of bearing being used in combination with reduction box casing 5 is provided with by being arranged on power output frame 43
3, it is ensured that power output body 42 and power access body（Do not show in figure）Stability when driving reduction box casing 5 to rotate；
It is worth noting that：
Power input device 61 and power output frame 43 can be configured using gear and gear ring type of belt drive；
Meanwhile, also the bearing of guarantee rotational stability can be set in the junction of 41 outer end cap of rotary shaft 2.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to protection model of the invention
Enclose.
Claims (10)
1. a kind of dual-gripper steerable drive wheel, it is characterised in that：Including turning to installing plate, being arranged under the steering installing plate
The steering drive component and steering position component for holding the dual-gripper driving wheel and the dual-gripper driving wheel of end face to be correspondingly arranged；
Tooth sector is provided with the steering installing plate, the steer-drive includes being arranged at turning on the steering installing plate
To drive device and be connected to the steer-drive and with the tooth sector use cooperatively first transmission tooth
Wheel, the steering position component include the lower end surface for being arranged at the steering installing plate steering position device, be connected to it is described
Steering position device and the second Transmission gear for being used cooperatively with the tooth sector.
2. a kind of dual-gripper steerable drive wheel according to claim 1, it is characterised in that：The tooth sector is connected to institute
State on the steering bearing for turning to and being set on installing plate, and the steering installing plate opens up limited location detection hole and the steering is installed
The lower end surface of plate is provided with the electronic stopper corresponding with the spacing detection hole, is provided with the tooth sector and institute
State the caging bolt that electronic stopper is used in combination.
3. a kind of dual-gripper steerable drive wheel according to claim 1 and 2, it is characterised in that：The dual-gripper driving wheel
Including dual-gripper reduction box wheel, it is respectively arranged at the drive device and brake, Yi Jiyu of the dual-gripper reduction box wheel both sides
The support meanss of the dual-gripper reduction box wheel connection, the dual-gripper reduction box wheel includes drive end bearing bracket and rear end cap, the branch
Support arrangement include with the steering supporting plate that is connected of installing plate, supporting plate lower end both sides be provided with for it is described before
The support feet that end cap is fixedly connected with the rear end cap.
4. a kind of dual-gripper steerable drive wheel according to claim 3, it is characterised in that：The dual-gripper reduction box wheel bag
Include reducing gear and be arranged at the dynamic wheel of the reducing gear outer end；The drive end bearing bracket and the rear end cap symmetrically set
It is placed in the both sides of the reducing gear.
5. a kind of dual-gripper steerable drive wheel according to claim 4, it is characterised in that：The dynamic wheel includes slowing down
The wheel that tank shell and the reduction box casing outer end are enclosed with is encapsulated.
6. a kind of dual-gripper steerable drive wheel according to claim 4, it is characterised in that：The reducing gear includes appearance
Face is provided with the power output frame of power output body, and the reduction box casing inner surface setting has matches somebody with somebody with the power output body phase
The power that conjunction is used accesses body.
7. a kind of dual-gripper steerable drive wheel according to claim 6, it is characterised in that：The power output body is by gear
Constitute, the power accesses body and is made up of the ring gear matched with gear.
8. a kind of dual-gripper steerable drive wheel according to claim 7, it is characterised in that：The power output frame both sides point
Rotary shaft and power input device are not provided with, the rotary shaft penetrates the drive end bearing bracket and is connected with the brake, and drive
Device is made up of motor, and the motor shaft of motor is connected through the rear end cap with the power input device.
9. a kind of dual-gripper steerable drive wheel according to claim 1, it is characterised in that：Set on the power output frame
There is the rotor being made up of bearing being used in combination with the reduction box casing.
10. a kind of dual-gripper steerable drive wheel according to claim 6-9 any one, it is characterised in that：The front end
Lid and the rear end cap are fixedly connected by the fixture being made up of bolt with the power output frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006157.9A CN106696682A (en) | 2017-01-05 | 2017-01-05 | Double-supporting steering driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006157.9A CN106696682A (en) | 2017-01-05 | 2017-01-05 | Double-supporting steering driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106696682A true CN106696682A (en) | 2017-05-24 |
Family
ID=58905889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710006157.9A Pending CN106696682A (en) | 2017-01-05 | 2017-01-05 | Double-supporting steering driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106696682A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN108216422A (en) * | 2017-12-22 | 2018-06-29 | 广东吕顺智能科技有限公司 | A kind of wheel steering wheel mechanism and agv vehicles |
| CN108331884A (en) * | 2018-04-11 | 2018-07-27 | 苏州南江乐博机器人有限公司 | A kind of reduction box organizations for soccer robot driving |
| CN111341532A (en) * | 2020-04-29 | 2020-06-26 | 丁西焘 | Mounting rack for transformer and mounting method thereof |
| WO2020201984A1 (en) * | 2019-03-29 | 2020-10-08 | Protean Electric Limited | A drive arrangement for a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1455069A (en) * | 1973-11-17 | 1976-11-10 | Hurth Verwaltungs Gmbh | Hub transmission |
| US20040112656A1 (en) * | 2002-08-29 | 2004-06-17 | Bowen Dale R. | Wheel assembly including a DC motor mounted within the hub and drive connected to the wheel |
| EP1795432A1 (en) * | 2005-12-09 | 2007-06-13 | Zf Friedrichshafen Ag | Drive for floor conveyor vehicles |
| DE102007035010A1 (en) * | 2007-07-26 | 2009-01-29 | Jungheinrich Ag | Steering unit for wheel of industrial truck, has roller bearing of pivot plate arranged within steering gear i.e. multi-stage spur gear, or steering gear provided partially within roller bearing, and coaxial pin connected with center plate |
| CN201559518U (en) * | 2009-11-05 | 2010-08-25 | 大连四达高技术发展有限公司 | Single type automatic vehicle wheel unit |
| CN205185842U (en) * | 2015-11-20 | 2016-04-27 | 安徽依诺玛智能科技有限公司 | AVG fork truck's horizontal drive |
-
2017
- 2017-01-05 CN CN201710006157.9A patent/CN106696682A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1455069A (en) * | 1973-11-17 | 1976-11-10 | Hurth Verwaltungs Gmbh | Hub transmission |
| US20040112656A1 (en) * | 2002-08-29 | 2004-06-17 | Bowen Dale R. | Wheel assembly including a DC motor mounted within the hub and drive connected to the wheel |
| EP1795432A1 (en) * | 2005-12-09 | 2007-06-13 | Zf Friedrichshafen Ag | Drive for floor conveyor vehicles |
| DE102007035010A1 (en) * | 2007-07-26 | 2009-01-29 | Jungheinrich Ag | Steering unit for wheel of industrial truck, has roller bearing of pivot plate arranged within steering gear i.e. multi-stage spur gear, or steering gear provided partially within roller bearing, and coaxial pin connected with center plate |
| CN201559518U (en) * | 2009-11-05 | 2010-08-25 | 大连四达高技术发展有限公司 | Single type automatic vehicle wheel unit |
| CN205185842U (en) * | 2015-11-20 | 2016-04-27 | 安徽依诺玛智能科技有限公司 | AVG fork truck's horizontal drive |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN108216422A (en) * | 2017-12-22 | 2018-06-29 | 广东吕顺智能科技有限公司 | A kind of wheel steering wheel mechanism and agv vehicles |
| CN108331884A (en) * | 2018-04-11 | 2018-07-27 | 苏州南江乐博机器人有限公司 | A kind of reduction box organizations for soccer robot driving |
| WO2020201984A1 (en) * | 2019-03-29 | 2020-10-08 | Protean Electric Limited | A drive arrangement for a vehicle |
| CN113874275A (en) * | 2019-03-29 | 2021-12-31 | 普罗蒂恩电子有限公司 | Drive device for vehicle |
| US11865922B2 (en) | 2019-03-29 | 2024-01-09 | Protean Electric Limited | Drive arrangement for a vehicle |
| CN113874275B (en) * | 2019-03-29 | 2024-03-22 | 普罗蒂恩电子有限公司 | Drive device for vehicle |
| CN111341532A (en) * | 2020-04-29 | 2020-06-26 | 丁西焘 | Mounting rack for transformer and mounting method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |
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| RJ01 | Rejection of invention patent application after publication |