CN106828667B - A kind of robot implement porter - Google Patents
A kind of robot implement porter Download PDFInfo
- Publication number
- CN106828667B CN106828667B CN201710152987.2A CN201710152987A CN106828667B CN 106828667 B CN106828667 B CN 106828667B CN 201710152987 A CN201710152987 A CN 201710152987A CN 106828667 B CN106828667 B CN 106828667B
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- Prior art keywords
- steering
- chassis
- driving
- steering system
- shaft
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- Expired - Fee Related
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- 235000020004 porter Nutrition 0.000 title abstract 2
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 239000012530 fluid Substances 0.000 abstract 2
- 239000000463 material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 239000012773 agricultural material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009323 psychological health Effects 0.000 description 1
Classifications
-
- 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
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (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 driving system and hydraulic lifting system；Bindiny mechanism (15) is arranged on chassis (1), front-axle steering system is arranged in chassis (1) front, including turns to stepper motor-retarder group (4), front axle (3), steering system bearing (5), front axle umbrella tooth (6) and turn to train (2)；Rear axle driving system is arranged in chassis (1) rear portion, including driving motor-retarder group (11), rear axle (12), driving are bearing (13), rear axle sprocket wheel (9) and drive train (8)；The hydraulic lifting system includes hydraulic cylinder (14), hydraulic oil source system, synchronous valve and fluid pressure line, is connected to by fluid pressure line between hydraulic cylinder (14), hydraulic oil source system and synchronous valve.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to a robot self-propelled chassis.
Background
At present, the warehouse carrying and loading and unloading mode of bagged materials in China is mainly carried by shoulders and a trolley, and the loading and unloading workers not only have high labor intensity and low working efficiency, but also work in a dust environment and are easy to harm physical and psychological health. The carrying robot equipment widely used for loading and unloading bagged materials at home and abroad is fixed on a production line or arranged on a movable guide rail, and cannot enter a train carriage or flexibly move to quickly grab, load and unload the densely stacked bagged materials in the train carriage.
In summary, the transfer robots in the prior art are not suitable for loading and unloading densely stacked bagged materials in a train carriage, and cannot flexibly enter the train carriage to quickly and harmlessly grab stacked bagged materials.
Therefore, a self-propelled chassis of a transfer robot is urgently needed, which can meet the requirements of fast and undamaged loading, unloading and stacking of stacked bagged materials in a railway carriage.
When the transfer robot works, if the chassis is not fixed, the robot may move and even overturn due to huge moment of inertia generated when the robot mechanical arm extends to grab an object, which is not allowed in the robot work, so a set of mechanism for fixedly supporting the robot on the ground is required to be arranged to ensure the safety of the robot in the work. The hydraulic system is used as a lifting system of the self-propelled chassis of the robot in the invention due to the advantages of convenience, simple structure and large unit acting force (compared with electric operation).
Disclosure of Invention
The invention aims to provide a robot self-propelled chassis which solves the problems of flexible movement of a transfer robot in a train carriage and stability of the robot during operation, improves loading and unloading efficiency and realizes mechanization and automation of agricultural material loading and unloading.
The purpose of the invention is realized by the following technical scheme:
a robotic self-propelled chassis, comprising: the device comprises a chassis 1, a connecting mechanism 15, a front axle steering system, a rear axle driving system and a hydraulic lifting system; wherein,
the connecting mechanism 15 is arranged on the chassis 1, and the transfer robot is connected with the chassis 1 through the connecting mechanism 15;
the front axle steering system is arranged at the front part of the chassis 1 and comprises a steering stepping motor-reducer group 4, a front axle 3, a steering system bearing 5, a front axle bevel gear 6 and a steering gear train 2;
the steering stepping motor-reducer group 4 is fixed on the chassis 1, the front shaft 3 is connected with the output end of the steering stepping motor-reducer group 4 through a spline, two outer ends of the front shaft 3 are respectively provided with two steering system bearings 5, and a front shaft bevel gear 6 which is vertical to the chassis 1 is arranged between the two steering system bearings 5 at each end of the front shaft 3;
the two steering wheel trains 2 are respectively arranged at two ends of the lower end surface of the front part of the chassis 1 and are arranged corresponding to the two front shaft bevel gears 6;
the steering gear train 2 comprises a steering system nut 21, a steering system screw 22, a steering system upper top plate 23, a steering wheel 24, a steering shaft 25, a steering system lifting lug 26 and a steering system bevel gear 27;
wherein, the upper top plate 23 of the steering system is fixed on the lower end surface of the chassis 1, the upper top plate 23 of the steering system and the chassis 1 are provided with through holes which are communicated up and down, the outer edge of the steering bearing is fixedly connected with the through hole of the upper top plate 23 of the steering system in a clearance fit way, the lower end of the screw rod 22 of the steering system is fixedly connected with the lifting lug 26 of the steering system, and the upper end of the screw rod 22 of the steering system passes through the through holes of the upper top plate 23 of the steering system and the chassis 1 and is fixedly connected with the inner edge of the; the steering system lifting lug 26 is a U-shaped lifting lug, a steering system nut 21 is screwed in from the upper end of a steering system screw rod 22 and locks the steering system screw rod 22 in the vertical direction, the upper end of the steering system screw rod 22 is provided with steering system bevel gears 27 arranged in parallel with the chassis 1, and a steering wheel 24 is arranged on the steering system lifting lug 26 through a steering shaft 25;
the front shaft bevel gear 6 is meshed with the steering system bevel gear 27;
the rear axle driving system is arranged at the rear part of the chassis 1 and comprises a driving motor-reducer group 11, a rear axle 12, a driving system bearing 13, a rear axle sprocket 9 and a driving wheel train 8;
the driving motor-reducer group 11 is fixed on the chassis 1, the rear shaft 12 is fixedly connected with the output end of the driving motor-reducer group 11 through a spline, two driving system bearings 13 are respectively arranged at two outer ends of the rear shaft 12, and a rear shaft sprocket 9 is arranged between the two driving system bearings 13 at each end of the rear shaft 12;
the two driving wheel trains 8 are respectively arranged at two ends of the lower end surface of the rear part of the chassis 1 and are arranged corresponding to the two rear shaft chain wheels 9;
the driving wheel train 8 comprises a driving system upper top plate 85, a driving system ear plate 84, a driving system sprocket 83, a driving shaft 82 and a driving wheel 81;
a driving system upper top plate 85 is fixedly connected to the lower end face of the chassis 1, a left driving system lug plate 84 and a right driving system lug plate 84 are vertically fixedly connected to the driving system upper top plate 85, a driving wheel 81 is rotatably connected to the left driving system lug plate 84 and the right driving system lug plate 84 through a driving shaft 82, a driving system chain wheel 83 is arranged on one side of the driving shaft 82, and the driving system chain wheel 83 is connected with the rear shaft chain wheel 9 through a chain;
the hydraulic lifting system comprises hydraulic cylinders 14, a hydraulic oil source system, synchronous valves and hydraulic pipelines, wherein the four hydraulic cylinders 14 are respectively installed at four corners of the chassis 1, the hydraulic oil source system, the synchronous valves and the hydraulic pipelines are all arranged above the chassis 1, and the hydraulic cylinders 14, the hydraulic oil source system and the synchronous valves are communicated through the hydraulic pipelines.
A steering cushion block 7 is arranged below the steering bearing 5, and the steering cushion block 7 is arranged on the chassis 1.
A drive system cushion block 10 is arranged below the drive system bearing 13, and the drive system cushion block 10 is fixedly connected to the chassis 1.
The steering shaft 25 has outer clips mounted at both ends thereof.
The driving wheel 81 and the steering wheel 24 are polyurethane fork wheels having a diameter of 80 mm.
The invention has the beneficial effects that:
the bottom chassis is made of polyurethane fork wheels with the diameter of 80mm, the front shaft and the rear shaft are arranged above the chassis to reduce the ground clearance, the ultra-low ground clearance enhances the stability of the chassis of the robot, and the robot is prevented from turning over during moving or working.
Four hydraulic cylinders are arranged at four corners of a chassis of the robot, and when the robot works, wheels are supported off the ground by a hydraulic lifting system so as to ensure the safety and stability of the robot during working.
Drawings
FIG. 1 is a schematic structural diagram of a self-propelled chassis of the robot of the present invention;
FIG. 2 is a schematic diagram of a steering wheel train of the self-propelled chassis of the robot of the present invention;
fig. 3 is a schematic diagram of a driving wheel train of the robot self-propelled chassis of the invention.
Reference numerals:
1 chassis 2 steering wheel train 3 front axle
Bevel gear of front shaft of 4-direction stepping motor-reducer group 5 steering system bearing 6
7 steering system cushion block 8 driving wheel system 9 rear axle chain wheel
10 drive train cushion block 11 drive motor-reducer group 12 rear axle
13 drive train bearing 14 hydraulic cylinder 15 connecting mechanism
21 steering nut 22 steering screw 23 steering upper top plate
24 steering wheel 25 steering shaft 26 steering system lug
27 steering system bevel gear 81 driving wheel 82 driving shaft
83 drive train chain wheel 84 drive train ear plate 85 drive train top plate
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
The self-propelled chassis of robot uses with the robot cooperation. In the embodiment of the invention, the self-propelled chassis of the robot is matched with a transfer robot in a train carriage for loading, unloading and stacking bagged materials.
As shown in fig. 1, the robot self-propelled chassis includes: the chassis comprises a chassis 1, a connecting mechanism 15, a front axle steering system, a rear axle driving system and a hydraulic lifting system.
A connecting mechanism 15 is arranged on the chassis 1, and the carrier robot is connected to the chassis 1 through the connecting mechanism 15.
The front axle steering system is arranged at the front part of the chassis 1 and comprises a steering stepping motor-reducer group 4, a front axle 3, a steering system bearing 5, a front axle bevel gear 6, a steering system cushion block 7 and a steering wheel train 2.
Wherein, the steering stepping motor-reducer group 4 is fixed on the chassis 1, and the front shaft 3 is connected with the output end of the steering stepping motor-reducer group 4 through a spline. Two outer ends of the front shaft 3 are respectively provided with two steering system bearings 5, a steering system cushion block 7 is arranged below the steering system bearings 5, and the steering system cushion block 7 is arranged on the chassis 1. A front axle bevel gear 6 which is arranged perpendicular to the chassis 1 is arranged between two steering system bearings 5 at each end of the front axle 3.
The two steering wheel trains 2 are respectively arranged at two ends of the lower end surface of the front part of the chassis 1 and are arranged corresponding to the two front shaft bevel gears 6.
As shown in fig. 2, the steering train 2 includes a steering nut 21, a steering screw 22, a steering top plate 23, a steering wheel 24, a steering shaft 25, a steering lug 26, and a steering bevel 27.
Wherein, the steering system upper top plate 23 is fixed on the lower end surface of the chassis 1, and the steering system upper top plate 23 and the chassis 1 are provided with through holes which are penetrated up and down. The outer edge of a steering bearing (not shown in the figure) is fixedly connected with the through hole of the steering system upper top plate 23 in a clearance fit manner, the lower end of a steering system screw rod 22 is fixedly connected with a steering system lifting lug 26, and the upper end of the steering system screw rod 22 penetrates through the through holes of the steering system upper top plate 23 and the chassis 1 and is fixedly connected with the inner edge of the steering bearing in the through hole of the steering system upper top plate 23 in a clearance fit manner. The steering system lug 26 is a "U" shaped lug. The steering nut 21 is screwed from the upper end of the steering screw 22, and locks the steering screw 22 in the vertical direction. The upper end of the steering screw 22 is provided with a steering bevel 27 arranged parallel to the chassis 1. The steering wheel 24 is mounted on a steering system lug 26 through a steering shaft 25, and outer clips are mounted at both ends of the steering shaft 25 to prevent the steering shaft 25 from moving axially.
The front axle bevel 6 meshes with the steering system bevel 27.
As shown in fig. 1, a rear axle drive train is disposed at the rear of the chassis 1, and the rear axle drive train includes a drive motor-reducer group 11, a rear axle 12, a drive train bearing 13, a drive train pad 10, a rear axle sprocket 9, and a drive train 8.
The driving motor-reducer set 11 is fixed on the chassis 1, and the rear shaft 12 is fixedly connected to the output end of the driving motor-reducer set 11 through a spline. Two driving system bearings 13 are respectively arranged at two outer ends of the rear shaft 12, a driving system cushion block 10 is arranged below the driving system bearings 13, and the driving system cushion block 10 is fixedly connected to the chassis 1. A rear axle sprocket 9 is mounted between two drive train bearings 13 at each end of the rear axle 12.
Two driving wheel trains 8 are respectively arranged at two ends of the lower end surface of the rear part of the chassis 1 and are arranged corresponding to the two rear shaft chain wheels 9.
As shown in fig. 3, the drive train 8 includes a drive train top plate 85, a drive train lug plate 84, a drive train sprocket 83, a drive shaft 82, and a drive wheel 81.
The upper driving system top plate 85 is fixedly connected to the lower end face of the chassis 1, and the left and right driving system ear plates 84 are vertically and fixedly connected to the upper driving system top plate 85. The drive wheel 81 is rotatably connected to the left and right drive train lugs 84 via a drive shaft 82. A drive train sprocket 83 is arranged on one side of the drive shaft 82, and the drive train sprocket 83 is connected with the rear shaft sprocket 9 through a chain.
Preferably, the driving wheel 81 and the steering wheel 24 are polyurethane fork wheels having a diameter of 80 mm.
The hydraulic lifting system comprises hydraulic cylinders 14, a hydraulic oil source system, synchronous valves and hydraulic pipelines, wherein the four hydraulic cylinders 14 are respectively installed at four corners of the chassis 1, the hydraulic oil source system, the synchronous valves and the hydraulic pipelines are all arranged above the chassis 1, and the hydraulic cylinders 14, the hydraulic oil source system and the synchronous valves are communicated through the hydraulic pipelines. The high-pressure hydraulic oil reaches the synchronizing valve from the outlet of the hydraulic oil source system through the hydraulic pipeline, then reaches the oil inlets of the four hydraulic cylinders 14 through the synchronizing valve, and returns to the oil tank from the oil return ports of the four hydraulic cylinders 14 through the synchronizing valve.
The robot self-propelled chassis adopts the front axle steering and the rear axle driving, and the front axle 3 and the rear axle 12 are arranged above the chassis 1 to reduce the ground clearance; when the robot works, piston rods of four hydraulic cylinders 14 around the chassis 1 vertically extend downwards to support the chassis 1 off the ground, so that the problems of flexible movement of the transfer robot in a train carriage and stability of the robot during working are well solved, the loading and unloading efficiency is improved, and the mechanization and automation of agricultural material loading and unloading are realized.
In the invention, the total weight of the robot and the chassis 1 is 3 tons, if a driving system and a steering system are arranged below the chassis in the prior art, a wheel-side belt motor scheme (which can greatly reduce the ground clearance) is adopted, the ground clearance is at least 300mm, and the ground clearance of the chassis 1 in the application is only 110mm, so that the robot provided with the chassis can smoothly enter and exit from a train carriage.
The working process is as follows:
the robot self-propelled chassis has the functions of advancing, retreating, turning left and right, lifting the hydraulic cylinder 14 and steering and correcting.
When the robot starts a carrying task, piston rods of four hydraulic cylinders 14 around the chassis 1 vertically extend downwards to support the chassis 1 off the ground.
After the carrying task of the carrying robot at a certain point is finished, the piston rod of the hydraulic cylinder 14 is controlled to retract, so that the steering wheel 24 and the driving wheel 81 are grounded, the robot walking function is started, and the robot is controlled to walk to the next position through advancing, backing and left/right turning.
When the transfer robot moves forward/backward, the controller sends forward/backward signals to the driving motor-reducer group 11, the driving motor rotates forward/backward, the power is transmitted to the rear shaft 12 after being reduced by the reducer, and then the power is transmitted to the driving chain wheel 83 on one side of the driving shaft 82 by the rear shaft chain wheel 9 on the rear shaft 12 to drive the driving wheel 81 on the driving shaft 82 to rotate.
When the carrying robot turns left/right, the controller sends a left/right turning signal to the steering stepping motor-reducer group 4 to drive the motor to rotate forwards/backwards, the power is transmitted to the front shaft 3 after being reduced by the reducer, and then the power is transmitted to the steering shaft 25 by the front shaft bevel gear 6 on the front shaft 3 through being meshed with the steering system bevel gear 27 on the steering system screw 22, so that the steering wheel 24 is driven to rotate forwards/backwards, and the left/right turning of the steering wheel is realized.
After the transfer robot stops traveling, the controller first controls the piston rod of the hydraulic cylinder 14 to be raised, and the steering wheel 24 and the driving wheel 81 are lifted off the ground, at which time the robot starts the next operation cycle. The operation is repeated so as to finish the transportation of the bagged materials in the whole train carriage.
Claims (5)
1. A robot self-propelled chassis is characterized in that:
it includes: the hydraulic lifting device comprises a chassis (1), a connecting mechanism (15), a front axle steering system, a rear axle driving system and a hydraulic lifting system; wherein,
the connecting mechanism (15) is arranged on the chassis (1), and the carrying robot is connected with the chassis (1) through the connecting mechanism (15);
the front axle steering system is arranged at the front part of the chassis (1) and comprises a steering stepping motor-reducer group (4), a front axle (3), a steering system bearing (5), a front axle bevel gear (6) and a steering gear train (2);
the steering stepping motor-reducer group (4) is fixed on the chassis (1), the front shaft (3) is connected to the output end of the steering stepping motor-reducer group (4) through a spline, two outer ends of the front shaft (3) are respectively provided with two steering system bearings (5), and a front shaft bevel gear (6) which is vertical to the chassis (1) is arranged between the two steering system bearings (5) at each end of the front shaft (3);
the two steering wheel trains (2) are respectively arranged at two ends of the lower end surface of the front part of the chassis (1) and are arranged corresponding to the two front shaft bevel gears (6);
each steering gear train (2) comprises a steering system nut (21), a steering system screw rod (22), a steering system upper top plate (23), a steering wheel (24), a steering shaft (25), a steering system lifting lug (26) and steering system bevel gears (27);
the upper steering system top plate (23) is fixed on the lower end face of the chassis (1), the upper steering system top plate (23) and the chassis (1) are provided with through holes which are communicated up and down, the outer edge of a steering bearing is fixedly connected with the through holes of the upper steering system top plate (23) in a clearance fit manner, the lower end of a steering system screw rod (22) is fixedly connected with a steering system lifting lug (26), and the upper end of the steering system screw rod (22) penetrates through the through holes of the upper steering system top plate (23) and the chassis (1) and is fixedly connected with the inner edge of the steering bearing in the through hole of the upper steering system top plate (23) in a clearance fit manner; the steering system lifting lug (26) is a U-shaped lifting lug, a steering system nut (21) is screwed in from the upper end of a steering system screw rod (22) and locks the steering system screw rod (22) in the vertical direction, the upper end of the steering system screw rod (22) is provided with steering system bevel gears (27) which are arranged in parallel with the chassis (1), and a steering wheel (24) is arranged on the steering system lifting lug (26) through a steering shaft (25);
the front shaft bevel gear (6) is meshed with the steering system bevel gear (27);
the rear shaft driving system is arranged at the rear part of the chassis (1) and comprises a driving motor-reducer group (11), a rear shaft (12), a driving system bearing (13), a rear shaft chain wheel (9) and a driving wheel train (8);
the driving motor-reducer group (11) is fixed on the chassis (1), the rear shaft (12) is fixedly connected to the output end of the driving motor-reducer group (11) through a spline, two driving system bearings (13) are respectively arranged at two outer ends of the rear shaft (12), and a rear shaft sprocket (9) is arranged between the two driving system bearings (13) at each end of the rear shaft (12);
the two driving wheel trains (8) are respectively arranged at two ends of the lower end surface of the rear part of the chassis (1) and are arranged corresponding to the two rear shaft chain wheels (9);
each driving wheel train (8) comprises a driving system upper top plate (85), a left driving system ear plate and a right driving system ear plate (84), a driving system chain wheel (83), a driving shaft (82) and a driving wheel (81);
an upper driving system top plate (85) is fixedly connected to the lower end face of the chassis (1), a left driving system ear plate and a right driving system ear plate (84) are vertically fixedly connected to the upper driving system top plate (85), a driving wheel (81) is rotatably connected to the left driving system ear plate and the right driving system ear plate (84) through a driving shaft (82), a driving system chain wheel (83) is arranged on one side of the driving shaft (82), and the driving system chain wheel (83) is connected with the rear shaft chain wheel (9) through a chain;
the hydraulic lifting system comprises hydraulic cylinders (14), a hydraulic oil source system, synchronous valves and hydraulic pipelines, wherein the four hydraulic cylinders (14) are respectively installed at four corners of the chassis (1), the hydraulic oil source system, the synchronous valves and the hydraulic pipelines are all arranged above the chassis (1), and the hydraulic cylinders (14), the hydraulic oil source system and the synchronous valves are communicated through the hydraulic pipelines.
2. The robotic self-propelled chassis of claim 1, wherein:
a steering system cushion block (7) is arranged below the steering system bearing (5), and the steering system cushion block (7) is arranged on the chassis (1).
3. The robotic self-propelled chassis of claim 1 or 2, wherein:
a driving system cushion block (10) is arranged below the driving system bearing (13), and the driving system cushion block (10) is fixedly connected to the chassis (1).
4. The robotic self-propelled chassis of claim 1 or 2, wherein:
the two ends of the steering shaft (25) are provided with outer clamps.
5. The robotic self-propelled chassis of claim 1 or 2, wherein:
the driving wheel (81) and the steering wheel (24) are polyurethane fork wheels with the diameter of 80 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152987.2A CN106828667B (en) | 2017-03-15 | 2017-03-15 | A kind of robot implement porter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152987.2A CN106828667B (en) | 2017-03-15 | 2017-03-15 | A kind of robot implement porter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106828667A CN106828667A (en) | 2017-06-13 |
| CN106828667B true CN106828667B (en) | 2018-10-23 |
Family
ID=59145128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710152987.2A Expired - Fee Related CN106828667B (en) | 2017-03-15 | 2017-03-15 | A kind of robot implement porter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828667B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131633B (en) * | 2018-08-09 | 2020-12-01 | 安徽爱依特科技有限公司 | Mobile base and intelligent robot thereof |
| 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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|---|---|---|---|---|
| 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 |
-
2017
- 2017-03-15 CN CN201710152987.2A patent/CN106828667B/en not_active Expired - Fee Related
Patent Citations (7)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106828667A (en) | 2017-06-13 |
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