CN106828667A - A kind of robot implement porter - Google Patents

A kind of robot implement porter Download PDF

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Publication number
CN106828667A
CN106828667A CN201710152987.2A CN201710152987A CN106828667A CN 106828667 A CN106828667 A CN 106828667A CN 201710152987 A CN201710152987 A CN 201710152987A CN 106828667 A CN106828667 A CN 106828667A
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CN
China
Prior art keywords
steering system
chassis
drivetrain
axle
rear axle
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.)
Granted
Application number
CN201710152987.2A
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Chinese (zh)
Other versions
CN106828667B (en
Inventor
迟瑞娟
李涵
杜岳峰
毛恩荣
岳稳准
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China Agricultural University
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China Agricultural University
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Publication date
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Priority to CN201710152987.2A priority Critical patent/CN106828667B/en
Publication of CN106828667A publication Critical patent/CN106828667A/en
Application granted granted Critical
Publication of CN106828667B publication Critical patent/CN106828667B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • B62D63/04Component parts or accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/02Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
    • B60S9/10Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention belongs to industrial automation, more particularly to a kind of robot implement porter, including:Chassis (1), bindiny mechanism (15), front-axle steering system, rear axle drivetrain and hydraulic lifting system;Bindiny mechanism (15) is arranged on chassis (1), front-axle steering system is arranged in chassis (1) front portion, including turns to stepper motor decelerator group (4), front axle (3), steering system bearing (5), front axle umbrella tooth (6) and turn to train (2);Rear axle drivetrain is arranged in chassis (1) rear portion, including motor decelerator group (11), rear axle (12), drivetrain bearing (13), rear axle sprocket wheel (9) and drive train (8);The hydraulic lifting system include hydraulic cylinder (14), hydraulic oil source system, synchronous valve and fluid pressure line, hydraulic cylinder (14), between hydraulic oil source system and synchronous valve by fluid pressure line connect.

Description

A kind of robot implement porter
Technical field
The invention belongs to industrial automation, more particularly to a kind of robot implement porter.
Background technology
At present, the packed goods and materials of China warehouse carry and handling mode be mainly shoulder shoulder with dolly draw, stevedore is not Only labour intensity is big, inefficiency, and worked in the environment of dust, and easily harm is physically and mentally healthy.Use extensively both at home and abroad It is both secured on streamline in the transfer robot equipment of packed goods and materials handling, or is arranged on moving guide rail, it is impossible to enters fire Car compartment neatly moves and is fast captured and loaded and unloaded with the packed goods and materials to intensive stacking in railway carriage.
In sum, transfer robot of the prior art is all poorly suitable for the bagged articles of intensive stacking in railway carriage The handling of money, it is impossible to lossless quick crawl flexibly is carried out to the packed goods and materials of stacked into railway carriage.
Therefore, the quick and lossless handling of the packed goods and materials of stacked in railway carriage and stacking can be met in the urgent need to a kind of Transfer robot implement porter.
Conveying robot man-hour, if chassis is not fixed, produces huge during due to robot arm elongation crawl object Big rotary inertia, is likely to result in robot movement and even overturns, and this is not allowed in robot work, therefore must be matched somebody with somebody It is standby a set of by the clamped mechanism on ground of robot, to ensure the security of machine man-hour.Hydraulic system is because its is convenient, knot Structure is simple, the advantage of unit active force big (compared to electronic), by the hoisting system as robot implement porter in the present invention.
The content of the invention
Flexibly mobile and machine is artificial in railway carriage to solve transfer robot it is an object of the invention to provide one kind Stability problem when making, improves the efficiency of loading and unloading, realizes the mechanization of means of agricultural production handling and the robot implement porter of automation.
The purpose of the present invention is achieved through the following technical solutions:
A kind of robot implement porter, it includes:Chassis 1, bindiny mechanism 15, front-axle steering system, rear axle drivetrain and Hydraulic lifting system;Wherein,
Bindiny mechanism 15 is arranged on chassis 1, and transfer robot is connected by bindiny mechanism 15 with chassis 1;
Front-axle steering system is arranged in the front portion of chassis 1, including turns to stepper motor-decelerator group 4, front axle 3, steering system bearing 5th, front axle umbrella tooth 6 and steering train 2;
Wherein, turn to stepper motor-decelerator group 4 to be fixed on chassis 1, front axle 3 is turning to stepping by spline connection Two steering system bearings 5, two steerings that front axle 3 is often held respectively are arranged in the output end of motor-decelerator group 4, two outer ends of front axle 3 It is to be equipped with and the vertically arranged front axle umbrella tooth 6 in chassis 1 between bearing 5;
Two turn to train 2 and are separately positioned on the front lower ends face two ends of chassis 1, with the corresponding setting of two front axle umbrella teeth 6;
Turning to train 2 includes steering system nut 21, steering system screw rod 22, steering system upper plate 23, deflecting roller 24, steering spindle 25th, steering system hanger 26 and steering system umbrella tooth 27;
Wherein, steering system upper plate 23 is fixed on the lower surface of chassis 1, and steering system upper plate 23 and chassis 1 are provided with and pass through up and down Logical through hole, the outer rim of steering bearing coordinates affixed with the via clearance of steering system upper plate 23, steering system screw rod 22 Lower end is affixed with steering system hanger 26, the upper end of steering system screw rod 22 through steering system upper plate 23 and the through hole on chassis 1, and with The inner edge gap of the steering bearing in the through hole of steering system upper plate 23 coordinates affixed;The steering system hanger 26 is " u "-shaped hanger, Steering system nut 21 is screwed in from the upper end of steering system screw rod 22, and steering system screw rod 22 is locked in vertical direction, steering system spiral shell The upper end of bar 22 is provided with the steering system umbrella tooth 27 being arranged in parallel with chassis 1, and deflecting roller 24 is arranged on steering system by steering spindle 25 On hanger 26;
Front axle umbrella tooth 6 is engaged with steering system umbrella tooth 27;
Rear axle drivetrain is arranged in the rear portion of chassis 1, and rear axle drivetrain includes motor-decelerator group 11, rear axle 12, drives Dynamic is bearing 13, rear axle sprocket wheel 9 and drive train 8;
Wherein, motor-decelerator group 11 is fixed on chassis 1, and rear axle 12 is fixed in motor-subtract by spline Two drivetrain bearings 13, often hold two drivetrains of rear axle 12 are respectively arranged in the output end of fast device group 11,12 liang of outer ends of rear axle Rear axle sprocket wheel 9 is housed between bearing 13;
Two drive trains 8 are separately positioned on the two ends of the rear portion lower surface of chassis 1, corresponding with two rear axle sprocket wheels 9 to set Put;
Drive train 8 includes drivetrain upper plate 85, drivetrain otic placode 84, drivetrain sprocket wheel 83, drive shaft 82 and drives Wheel 81;
Drivetrain upper plate 85 is fixed in the lower surface of chassis 1, and the drivetrain otic placode 84 of left and right two is vertically fixed in drivetrain On upper plate 85, driving wheel 81 is rotatably connected on the two drivetrain otic placodes 84 in left and right by drive shaft 82, and the one of drive shaft 82 Side is disposed with drivetrain sprocket wheel 83, is connected by chain between drivetrain sprocket wheel 83 and rear axle sprocket wheel 9;
The hydraulic lifting system includes hydraulic cylinder 14, hydraulic oil source system, synchronous valve and fluid pressure line, four hydraulic cylinders 14 corners for being separately mounted to chassis 1, hydraulic oil source system, synchronous valve and fluid pressure line are arranged in the top of chassis 1, hydraulic cylinder 14th, connected by fluid pressure line between hydraulic oil source system and synchronous valve.
Steering system bearing sets steering system cushion block 7 for 5 times, and steering system cushion block 7 is arranged on chassis 1.
Drivetrain bearing sets drivetrain cushion block 10 13 times, and drivetrain cushion block 10 is fixed on chassis 1.
The two ends of steering spindle 25 are provided with wild card.
Driving wheel 81 and deflecting roller 24 are the polyurethane fork truck wheel of a diameter of 80mm.
The beneficial effects of the present invention are:
The polyurethane fork truck wheel of a diameter of 80mm is selected on this chassis, and it is liftoff to reduce that axle is placed in into chassis top Highly, super low ground space enhances the stability on robot chassis, prevents robot from being overturned in movement or the course of work.
Four hydraulic cylinders are housed, wheel is propped up liftoff by machine man-hour, hydraulic lifting system on the corner of robot chassis Face, to ensure the security and stability that robot works.
Brief description of the drawings
Fig. 1 is the structural representation of robot implement porter of the present invention;
Fig. 2 is the steering train schematic diagram of robot implement porter of the present invention;
Fig. 3 is the drive train schematic diagram of device people implement porter of the present invention.
Reference:
1 chassis 2 turns to the front axle of train 3
4 turn to the front axle umbrella tooth of stepper motor -5 steering system bearing of decelerator group 6
The rear axle sprocket wheel of 7 steering system cushion block, 8 drive train 9
10 11 motors of the drivetrain cushion block-rear axle of decelerator group 12
The bindiny mechanism of 13 drivetrain bearing, 14 hydraulic cylinder 15
The steering system upper plate of 21 steering system nut, 22 steering system screw rod 23
The steering system hanger of 24 deflecting roller, 25 steering spindle 26
The drive shaft of 27 81 driving wheel of steering system umbrella tooth 82
The drivetrain upper plate of 83 drivetrain sprocket wheel, 84 drivetrain otic placode 85
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is described in further detail.
Robot implement porter, uses cooperatively with robot.In the embodiment of the present invention, robot implement porter with use Used cooperatively in transfer robot in the railway carriage of handling and the packed goods and materials of stacking.
As shown in figure 1, robot implement porter, including:Chassis 1, bindiny mechanism 15, front-axle steering system, rear axle drive System and hydraulic lifting system.
Bindiny mechanism 15 is arranged on chassis 1, and transfer robot is connected by bindiny mechanism 15 with chassis 1.
It is anterior that front-axle steering system is arranged in chassis 1, front-axle steering system include turning to stepper motor-decelerator group 4, front axle 3, Steering system bearing 5, front axle umbrella tooth 6, steering system cushion block 7 and steering train 2.
Wherein, turn to stepper motor-decelerator group 4 to be fixed on chassis 1, front axle 3 is turning to stepping by spline connection The output end of motor-decelerator group 4.Two steering system bearings 5 are respectively arranged in two outer ends of front axle 3, and steering system bearing sets for 5 times and turns To being cushion block 7, steering system cushion block 7 is on chassis 1.It is equipped with and chassis 1 between two steering system bearings 5 that front axle 3 is often held Vertically arranged front axle umbrella tooth 6.
Two turn to train 2 and are separately positioned on the front lower ends face two ends of chassis 1, with the corresponding setting of two front axle umbrella teeth 6.
As shown in Fig. 2 turning to train 2 includes steering system nut 21, steering system screw rod 22, steering system upper plate 23, steering Wheel 24, steering spindle 25, steering system hanger 26 and steering system umbrella tooth 27.
Wherein, steering system upper plate 23 is fixed on the lower surface of chassis 1, and steering system upper plate 23 and chassis 1 are provided with and pass through up and down Logical through hole.The outer rim of steering bearing (not shown) coordinates affixed with the via clearance of steering system upper plate 23, turns To be screw rod 22 lower end it is affixed with steering system hanger 26, the upper end of steering system screw rod 22 passes through steering system upper plate 23 and chassis 1 through hole, and with the through hole of steering system upper plate 23 in steering bearing inner edge gap coordinate it is affixed.The steering system hanger 26 It is " u "-shaped hanger.Steering system nut 21 is screwed in from the upper end of steering system screw rod 22, and steering system screw rod 22 is locked in vertical direction It is fixed.The upper end of steering system screw rod 22 is provided with the steering system umbrella tooth 27 being arranged in parallel with chassis 1.Deflecting roller 24 is pacified by steering spindle 25 On steering system hanger 26, and the two ends of steering spindle 25 are provided with wild card, prevent the axial movement of steering spindle 25.
Front axle umbrella tooth 6 is engaged with steering system umbrella tooth 27.
As shown in figure 1, rear axle drivetrain is arranged in the rear portion of chassis 1, rear axle drivetrain includes motor-decelerator group 11st, rear axle 12, drivetrain bearing 13, drivetrain cushion block 10, rear axle sprocket wheel 9 and drive train 8.
Wherein, motor-decelerator group 11 is fixed on chassis 1, and rear axle 12 is fixed in motor-subtract by spline The output end of fast device group 11.Two drivetrain bearings 13,13 times setting drivetrains of drivetrain bearing are respectively arranged in 12 liang of outer ends of rear axle Cushion block 10, drivetrain cushion block 10 is fixed on chassis 1.Rear axle chain is housed between often hold two drivetrain bearings 13 of rear axle 12 Wheel 9.
Two drive trains 8 are separately positioned on the two ends of the rear portion lower surface of chassis 1, corresponding with two rear axle sprocket wheels 9 to set Put.
As shown in figure 3, drive train 8 includes drivetrain upper plate 85, drivetrain otic placode 84, drivetrain sprocket wheel 83, driving Axle 82 and driving wheel 81.
Drivetrain upper plate 85 is fixed in the lower surface of chassis 1, and the drivetrain otic placode 84 of left and right two is vertically fixed in drivetrain On upper plate 85.Driving wheel 81 is rotatably connected on the two drivetrain otic placodes 84 in left and right by drive shaft 82.The one of drive shaft 82 Side is disposed with drivetrain sprocket wheel 83, is connected by chain between drivetrain sprocket wheel 83 and rear axle sprocket wheel 9.
Preferably, driving wheel 81 and deflecting roller 24 are the polyurethane fork truck wheel of a diameter of 80mm.
Hydraulic lifting system includes hydraulic cylinder 14, hydraulic oil source system, synchronous valve and fluid pressure line, four 14 points of hydraulic cylinders Not An Zhuan chassis 1 corner, hydraulic oil source system, synchronous valve and fluid pressure line be arranged in the top of chassis 1, hydraulic cylinder 14, Connected by fluid pressure line between hydraulic oil source system and synchronous valve.High pressure liquid force feed passes through hydraulic pressure from hydraulic oil source system outlet Pipeline reaches synchronous valve, then reaches four oil inlets of hydraulic cylinder 14 by synchronous valve, and is passed through from four oil return openings of hydraulic cylinder 14 Synchronous valve returns to fuel tank.
Robot implement porter of the invention, using front-axle steering, rear axle drives, and front axle 3 and rear axle 12 are placed in bottom The top of disk 1 is reducing the road clearance;Machine man-hour, four piston rods of hydraulic cylinder 14 of the surrounding of chassis 1 are vertically downward Stretch out and 1, chassis is solved into transfer robot flexible mobile and machine man-hour in railway carriage from the ground, well Stability problem, improve the efficiency of handling, realize the means of agricultural production handling mechanization and automation.
In the present invention, robot is 3 tons with the gross weight on chassis 1, if drivetrain, steering system are placed in into bottom in the prior art Disk lower section, using wheel sideband motor scheme (program can substantially reduce the road clearance), the road clearance is at least 300mm, and originally The road clearance of chassis 1 is only 110mm in application so that the robot for being equipped with the chassis can smoothly pass in and out railway carriage.
The course of work:
Robot implement porter is lifted with advance, retrogressing, left and right turning, hydraulic cylinder 14, steering reversal function.
When robot starts carrying task, the piston rod of four hydraulic cylinders 14 of the surrounding of chassis 1 is extended vertically down the bottom of 1, disk is from the ground.
After carrying task of the transfer robot at certain fixed point terminates, withdrawn by controlling the piston rod of hydraulic cylinder 14, Deflecting roller 24 and driving wheel 81 is landed, open robot ambulation function, and by advance, retrogressing, left/right Servo Control machine The next position is arrived in people's walking.
When transfer robot is forward/backward, controller sends forward/backward signal to motor-decelerator group 11, drives Dynamic motor forward/reverse, transfers power to rear axle 12 after slowing down through decelerator, then will be dynamic by the rear axle sprocket wheel 9 on rear axle 12 Power is delivered to the drivetrain sprocket wheel 83 of the side of drive shaft 82 to drive the driving wheel 81 in drive shaft 82 to rotate.
When transfer robot left/right is turned, controller sends left/right rotaring signal and gives steering stepper motor-decelerator group 4, Motor forward/reverse, transfers power to front axle 3, then passed through by the front axle umbrella tooth 6 on front axle 3 after slowing down through decelerator Engaged with the steering system umbrella tooth 27 on steering system screw rod 22, transfer power to steering spindle 25, so as to drive deflecting roller 24 positive and negative Turn, realize that the left/right of deflecting roller turns.
After transfer robot stops walking, the piston rod for first passing through controller control hydraulic cylinder 14 is propped, by deflecting roller 24 and driving wheel 81 from the ground, now robot start subsequent work circulation.So repeatedly, to complete in whole railway carriage Packed material handling.

Claims (5)

1. a kind of robot implement porter, it is characterised in that:
It includes:Chassis (1), bindiny mechanism (15), front-axle steering system, rear axle drivetrain and hydraulic lifting system;Wherein,
Bindiny mechanism (15) is arranged on chassis (1), and transfer robot is connected by bindiny mechanism (15) with chassis (1);
Front-axle steering system is arranged in chassis (1) front portion, including turns to stepper motor-decelerator group (4), front axle (3), steering system axle Hold (5), front axle umbrella tooth (6) and turn to train (2);
Wherein, turn to stepper motor-decelerator group (4) to be fixed on chassis (1), front axle (3) is turning to step by spline connection Two steering system bearings (5) are respectively arranged in the output end of stepper motor-decelerator group (4), two outer ends of front axle (3), and front axle (3) is often held Two steering system bearings (5) between be equipped with and chassis (1) vertically arranged front axle umbrella tooth (6);
Two turn to train (2) and are separately positioned on chassis (1) front lower ends face two ends, corresponding with two front axle umbrellas tooth (6) to set Put;
Turn to train (2) including steering system nut (21), steering system screw rod (22), steering system upper plate (23), deflecting roller (24), Steering spindle (25), steering system hanger (26) and steering system umbrella tooth (27);
Wherein, steering system upper plate (23) is fixed on chassis (1) lower surface, and steering system upper plate (23) and chassis (1) are provided with The through hole of lower insertion, the outer rim of steering bearing coordinates affixed, steering system spiral shell with the via clearance of steering system upper plate (23) The lower end of bar (22) is affixed with steering system hanger (26), and the upper end of steering system screw rod (22) passes through steering system upper plate (23) and bottom The through hole of disk (1), and with steering system upper plate (23) through hole in steering bearing inner edge gap coordinate it is affixed;The steering system Hanger (26) is " u "-shaped hanger, and steering system nut (21) is screwed in from the upper end of steering system screw rod (22), and by steering system screw rod (22) locked in vertical direction, steering system screw rod (22) upper end is provided with steering system umbrella tooth (27) being arranged in parallel with chassis (1), Deflecting roller (24) is by steering spindle (25) on steering system hanger (26);
Front axle umbrella tooth (6) is engaged with steering system umbrella tooth (27);
Rear axle drivetrain is arranged in chassis (1) rear portion, rear axle drivetrain include motor-decelerator group (11), rear axle (12), Drivetrain bearing (13), rear axle sprocket wheel (9) and drive train (8);
Wherein, motor-decelerator group (11) is fixed on chassis (1), rear axle (12) by spline be fixed in motor- The output end of decelerator group (11), the outer end of rear axle (12) two each two drivetrain bearings (13) of arrangement, rear axle (12) is often held Rear axle sprocket wheel (9) is housed between two drivetrain bearings (13);
Two drive trains (8) are separately positioned on the two ends of chassis (1) rear portion lower surface, corresponding with two rear axle sprocket wheels (9) Set;
Drive train (8) includes drivetrain upper plate (85), drivetrain otic placode (84), drivetrain sprocket wheel (83), drive shaft (82) And driving wheel (81);
Drivetrain upper plate (85) is fixed in chassis (1) lower surface, and the drivetrain otic placode (84) of left and right two is vertically fixed in driving Fasten on top board (85), driving wheel (81) is rotatably connected on the two drivetrain otic placodes (84) in left and right by drive shaft (82), is driven The side of moving axis (82) is disposed with drivetrain sprocket wheel (83), is connected by chain between drivetrain sprocket wheel (83) and rear axle sprocket wheel (9) Connect;
The hydraulic lifting system includes hydraulic cylinder (14), hydraulic oil source system, synchronous valve and fluid pressure line, four hydraulic cylinders (14) corner of chassis (1) is separately mounted to, hydraulic oil source system, synchronous valve and fluid pressure line are arranged in chassis (1) top, Hydraulic cylinder (14), between hydraulic oil source system and synchronous valve by fluid pressure line connect.
2. robot implement porter according to claim 1, it is characterised in that:
Steering system cushion block (7) is set under steering system bearing (5), and steering system cushion block (7) is on chassis (1).
3. robot implement porter according to claim 1 and 2, it is characterised in that:
Drivetrain cushion block (10) is set under drivetrain bearing (13), and drivetrain cushion block (10) is fixed on chassis (1).
4. robot implement porter according to claim 1 and 2, it is characterised in that:
Steering spindle (25) two ends are provided with wild card.
5. robot implement porter according to claim 1 and 2, it is characterised in that:
Driving wheel (81) and the polyurethane fork truck wheel that deflecting roller (24) is a diameter of 80mm.
CN201710152987.2A 2017-03-15 2017-03-15 A kind of robot implement porter Expired - Fee Related CN106828667B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN106828667B CN106828667B (en) 2018-10-23

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109131633A (en) * 2018-08-09 2019-01-04 安徽爱依特科技有限公司 A kind of mobile foundation and its intelligent robot
CN109131634A (en) * 2018-08-14 2019-01-04 安徽爱依特科技有限公司 market transportation robot
CN109176477A (en) * 2018-10-30 2019-01-11 苏州市海神达机械科技有限公司 A kind of mobile underpan

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CN2347806Y (en) * 1998-07-17 1999-11-10 葛洲坝股份有限公司施工科学研究所 Universal walking full-hydraulic driven loading chassis
CN2723302Y (en) * 2004-09-09 2005-09-07 顾正平 Wheel walking part capable of translating randomly at any direction
US6948576B2 (en) * 2002-01-10 2005-09-27 Jorge Angeles Driving and transmission unit for use in rolling vehicles
CN104129430A (en) * 2014-08-14 2014-11-05 柳州君天机器人自动化有限公司 Full steering moving chassis
CN204846103U (en) * 2015-08-03 2015-12-09 中国人民解放军空军勤务学院 Multi -angle turns to detection car
CN105857387A (en) * 2016-05-11 2016-08-17 姚连涛 Angle-changeable transmission device, vehicle chassis and control method thereof
CN205952117U (en) * 2016-06-29 2017-02-15 北京云迹科技有限公司 Six rounds of chassis systems and vehicle and wheeled robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2347806Y (en) * 1998-07-17 1999-11-10 葛洲坝股份有限公司施工科学研究所 Universal walking full-hydraulic driven loading chassis
US6948576B2 (en) * 2002-01-10 2005-09-27 Jorge Angeles Driving and transmission unit for use in rolling vehicles
CN2723302Y (en) * 2004-09-09 2005-09-07 顾正平 Wheel walking part capable of translating randomly at any direction
CN104129430A (en) * 2014-08-14 2014-11-05 柳州君天机器人自动化有限公司 Full steering moving chassis
CN204846103U (en) * 2015-08-03 2015-12-09 中国人民解放军空军勤务学院 Multi -angle turns to detection car
CN105857387A (en) * 2016-05-11 2016-08-17 姚连涛 Angle-changeable transmission device, vehicle chassis and control method thereof
CN205952117U (en) * 2016-06-29 2017-02-15 北京云迹科技有限公司 Six rounds of chassis systems and vehicle and wheeled robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109131633A (en) * 2018-08-09 2019-01-04 安徽爱依特科技有限公司 A kind of mobile foundation and its intelligent robot
CN109131634A (en) * 2018-08-14 2019-01-04 安徽爱依特科技有限公司 market transportation robot
CN109131634B (en) * 2018-08-14 2020-04-21 安徽爱依特科技有限公司 Market transportation robot
CN109176477A (en) * 2018-10-30 2019-01-11 苏州市海神达机械科技有限公司 A kind of mobile underpan

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