CN106828667B - A kind of robot implement porter - Google Patents

A kind of robot implement porter Download PDF

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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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CN
China
Prior art keywords
steering
axle
driving
chassis
plate
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.)
Expired - Fee Related
Application number
CN201710152987.2A
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Chinese (zh)
Other versions
CN106828667A (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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Filing date
Publication date
Application filed by China Agricultural University filed Critical China Agricultural University
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

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

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
Currently, the warehouse of the packed goods and materials in China is carried and handling mode with trolley mainly by pickaback drawing, stevedore is not Only labor intensity is big, working efficiency is low, and is worked in the environment of dust, and easily harm is physically and mentally healthy.It uses extensively both at home and abroad It is both secured on assembly line, or is arranged on moving guide rail in the transfer robot equipment of packed goods and materials handling, cannot be introduced into fire Vehicle compartment is neatly moved to the packed goods and materials of intensive stacking in railway carriage fast capture and load and unload.
In conclusion transfer robot in the prior art is all poorly suitable for the bagged articles of intensive stacking in railway carriage The handling of money can not flexibly enter railway carriage and carry out lossless quick crawl to the packed goods and materials of stacked.
Therefore, the quick and lossless handling of the packed goods and materials of stacked in railway carriage and stacking can be met there is an urgent need to a kind of Transfer robot implement porter.
Conveying robot man-hour, it is huge due to being generated when robot arm extends crawl object if chassis is not fixed Big rotary inertia is likely to result in robot movement and even overturns, this does not allow in robot work, therefore must match It is standby a set of by the clamped mechanism on ground of robot, to ensure the safety of machine man-hour.Hydraulic system is because its is convenient, knot The advantages of structure is simple, unit active force is big (compared to electronic), by the hoisting system as robot implement porter in the present invention.
Invention content
It is flexibly moved in railway carriage the purpose of the present invention is to provide a kind of solution transfer robot and machine is artificial Stability problem when making improves the efficiency of loading and unloading, realizes the robot implement porter of the mechanization and automation of means of agricultural production handling.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of robot implement porter comprising:Chassis 1, bindiny mechanism 15, front-axle steering system, rear axle driving system and Hydraulic lifting system;Wherein,
Bindiny mechanism 15 is arranged on chassis 1, and transfer robot is connect by bindiny mechanism 15 with chassis 1;
Front-axle steering system is arranged in 1 front of chassis, including turns to stepper motor-retarder group 4, front axle 3, steering system bearing 5, front axle umbrella tooth 6 and steering train 2;
Wherein, it turns to stepper motor-retarder group 4 to be fixed on chassis 1, front axle 3 is connected to steering stepping by spline Two steering system bearings 5, two steerings that front axle 3 is often held respectively are arranged in two outer ends of the output end of motor-retarder group 4, front axle 3 It is to be equipped between bearing 5 and 1 vertically arranged front axle umbrella tooth 6 of chassis;
Two turn to train 2 and are separately positioned on 1 front lower ends face both ends of chassis, setting corresponding with two front axle umbrella tooths 6;
It includes steering system nut 21, steering system screw rod 22, steering system upper plate 23, deflecting roller 24, steering shaft to turn to train 2 25, steering system lifting lug 26 and steering system umbrella tooth 27;
Wherein, steering system upper plate 23 is fixed on 1 lower face of chassis, and steering system upper plate 23 and chassis 1 are provided with to be passed through up and down Logical through-hole, the outer rim of steering bearing and the via clearance cooperation of steering system upper plate 23 are affixed, steering system screw rod 22 Lower end and steering system lifting lug 26 are affixed, and the upper end of steering system screw rod 22 passes through the through-hole of steering system upper plate 23 and chassis 1, and with The inner edge clearance fit of steering bearing in 23 through-hole of steering system upper plate is affixed;The steering system lifting lug 26 is " u "-shaped lifting lug, 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 22 upper end of bar is provided with the steering system umbrella tooth 27 being arranged in parallel with chassis 1, and deflecting roller 24 is mounted on steering system by steering shaft 25 On lifting lug 26;
Front axle umbrella tooth 6 is engaged with steering system umbrella tooth 27;
Rear axle driving system is arranged in 1 rear portion of chassis, and rear axle driving system includes driving motor-retarder group 11, rear axle 12, drives Dynamic is bearing 13, rear axle sprocket wheel 9 and drive train 8;
Wherein, driving motor-retarder group 11 is fixed on chassis 1, and rear axle 12 is fixed in driving motor-by spline and subtracts The output end of fast device group 11, respectively two drivings of arrangement are bearing 13 to 12 liang of outer ends of rear axle, and two often held of rear axle 12 drive system Rear axle sprocket wheel 9 is housed between bearing 13;
Two drive trains 8 are separately positioned on the both ends of 1 rear portion lower face of chassis, corresponding with two rear axle sprocket wheels 9 to set It sets;
Drive train 8 includes that top plate 85, driving attaching lug plate 84, driving tethers wheel 83, drive shaft 82 and driving are fastened in driving Wheel 81;
Driving fastens top plate 85 and is fixed in 1 lower face of chassis, and the driving attaching lug plate 84 of left and right two is vertically fixed in driving system On upper plate 85, driving wheel 81 is rotatably connected on by drive shaft 82 on the driving attaching lug plate 84 of left and right two, and the one of drive shaft 82 Side is disposed with driving tethers wheel 83, is connected by chain between driving tethers 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 are separately mounted to the quadrangle on chassis 1, and hydraulic oil source system, synchronous valve and fluid pressure line are arranged in 1 top of chassis, hydraulic cylinder 14, it is connected to by fluid pressure line between hydraulic oil source system and synchronous valve.
5 times setting steering system cushion blocks 7 of steering system bearing, steering system cushion block 7 is mounted on chassis 1.
Driving is that 13 times setting drivings of bearing are cushion block 10, and driving is that cushion block 10 is fixed on chassis 1.
25 both ends of steering shaft are equipped with wild card.
Driving wheel 81 and the polyurethane fork truck wheel that deflecting roller 24 is 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 axle is placed in liftoff to reduce above chassis Highly, super low ground space enhances the stability on robot chassis, prevents robot from overturning in movement or the course of work.
There are four hydraulic cylinders for dress on the quadrangle of robot chassis, and machine man-hour, hydraulic lifting system props up wheel liftoff Face, to ensure the security and stability of robot work.
Description of the drawings
Fig. 1 is the structural schematic diagram 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 robot implement porter of the present invention.
Reference numeral:
1 chassis 2 turns to 3 front axle of train
4 turn to stepper motor -5 steering system bearing of retarder group, 6 front axle umbrella tooth
7 steering system cushion block, 8 drive train, 9 rear axle sprocket wheel
10 drivings are 11 driving motors of cushion block -12 rear axle of retarder group
13 drivings are 14 hydraulic cylinder of bearing, 15 bindiny mechanism
21 steering system nut, 22 steering system screw rod, 23 steering system upper plate
24 deflecting roller, 25 steering shaft, 26 steering system lifting lug
27 steering system umbrella tooth, 81 driving wheel, 82 drive shaft
83 driving tethers wheels 84 drive 85 driving of attaching lug plate to fasten top plate
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.
Robot implement porter, is used cooperatively with robot.In the embodiment of the present invention, robot implement porter and use It is 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 driving System and hydraulic lifting system.
Bindiny mechanism 15 is arranged on chassis 1, and transfer robot is connect by bindiny mechanism 15 with chassis 1.
Front-axle steering system is arranged in 1 front of chassis, front-axle steering system include turn to stepper motor-retarder group 4, front axle 3, Steering system bearing 5, front axle umbrella tooth 6, steering system cushion block 7 and steering train 2.
Wherein, it turns to stepper motor-retarder group 4 to be fixed on chassis 1, front axle 3 is connected to steering stepping by spline The output end of motor-retarder group 4.Respectively two steering system bearings 5 of arrangement, the 5 times settings of steering system bearing turn for two outer ends of front axle 3 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 1 front lower ends face both ends of chassis, setting corresponding with two front axle umbrella tooths 6.
Include steering system nut 21, steering system screw rod 22, steering system upper plate 23, turn to as shown in Fig. 2, turning to train 2 Wheel 24, steering shaft 25, steering system lifting lug 26 and steering system umbrella tooth 27.
Wherein, steering system upper plate 23 is fixed on 1 lower face of chassis, and steering system upper plate 23 and chassis 1 are provided with to be passed through up and down Logical through-hole.The outer rim of steering bearing (not shown) and the via clearance cooperation of steering system upper plate 23 are affixed, turn Affixed to the lower end and steering system lifting lug 26 for being screw rod 22, the upper end of steering system screw rod 22 passes through steering system upper plate 23 and chassis 1 through-hole, and it is affixed with the inner edge clearance fit of the steering bearing in 23 through-hole of steering system upper plate.The steering system lifting lug 26 For " u "-shaped lifting lug.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.22 upper end of steering system screw rod is provided with the steering system umbrella tooth 27 being arranged in parallel with chassis 1.Deflecting roller 24 is pacified by steering shaft 25 On steering system lifting lug 26, and 25 both ends of steering shaft are equipped with wild card, prevent the axial movement of steering shaft 25.
Front axle umbrella tooth 6 is engaged with steering system umbrella tooth 27.
As shown in Figure 1, rear axle driving system is arranged in 1 rear portion of chassis, rear axle driving system includes driving motor-retarder group 11, rear axle 12, driving be bearing 13, driving be cushion block 10, rear axle sprocket wheel 9 and drive train 8.
Wherein, driving motor-retarder group 11 is fixed on chassis 1, and rear axle 12 is fixed in driving motor-by spline and subtracts The output end of fast device group 11.Respectively two drivings of arrangement are bearing 13 to 12 liang of outer ends of rear axle, and driving is 13 times setting driving systems of bearing Cushion block 10, driving are that cushion block 10 is fixed on chassis 1.Two often held the driving of rear axle 12 is that rear axle chain is housed between bearing 13 Wheel 9.
Two drive trains 8 are separately positioned on the both ends of 1 rear portion lower face of chassis, corresponding with two rear axle sprocket wheels 9 to set It sets.
Top plate 85, driving attaching lug plate 84, driving tethers wheel 83, driving are fastened as shown in figure 3, drive train 8 includes driving Axis 82 and driving wheel 81.
Driving fastens top plate 85 and is fixed in 1 lower face of chassis, and the driving attaching lug plate 84 of left and right two is vertically fixed in driving system On upper plate 85.Driving wheel 81 is rotatably connected on by drive shaft 82 on the driving attaching lug plate 84 of left and right two.The one of drive shaft 82 Side is disposed with driving tethers wheel 83, is connected by chain between driving tethers wheel 83 and rear axle sprocket wheel 9.
Preferably, driving wheel 81 and the polyurethane fork truck wheel that deflecting roller 24 is a diameter of 80mm.
Hydraulic lifting system includes hydraulic cylinder 14, hydraulic oil source system, synchronous valve and fluid pressure line, and four hydraulic cylinders 14 divide Not An Zhuan chassis 1 quadrangle, hydraulic oil source system, synchronous valve and fluid pressure line be arranged in the top of chassis 1, hydraulic cylinder 14, It is connected to by fluid pressure line between hydraulic oil source system and synchronous valve.High pressure liquid pressure oil passes through hydraulic pressure from hydraulic oil source system outlet Pipeline reaches synchronous valve, then the oil inlet of four hydraulic cylinders 14 is reached by synchronous valve, and is passed through from the oil return opening of four hydraulic cylinders 14 Synchronous valve returns to fuel tank.
The robot implement porter of the present invention, using front-axle steering, rear axle driving, and front axle 3 and rear axle 12 are placed in bottom The top of disk 1 is to reduce the road clearance;Machine man-hour, the piston rod of four hydraulic cylinders 14 of 1 surrounding of chassis is vertically downward It stretches out 1, chassis from the ground, has well solved transfer robot and flexibly moved in railway carriage and machine man-hour Stability problem, improve the efficiency of handling, realize the mechanization and automation of means of agricultural production handling.
In the present invention, the total weight on robot and chassis 1 is 3 tons, if driving system, steering system are placed in bottom in the prior art Below disk, using wheel sideband motor scheme (program can substantially reduce the road clearance), the road clearance is at least 300mm, and originally 1 road clearance of chassis is only 110mm in application so that the robot equipped with the chassis can smoothly pass in and out railway carriage.
The course of work:
Robot implement porter has the function of advance, retrogressing, left and right turning, the lifting of hydraulic cylinder 14, steering reversal.
When robot starts carrying task, the piston rod of four hydraulic cylinders 14 of 1 surrounding of chassis extends vertically down the bottom of 1, disk is from the ground.
After carrying task of the transfer robot at certain fixed point, the piston rod by controlling hydraulic cylinder 14 is withdrawn, So that deflecting roller 24 and driving wheel 81 is landed, opens robot ambulation function, and pass through advance, retrogressing, left/right Servo Control machine People walks to the next position.
When transfer robot is forward/backward, controller sends out forward/backward signal to driving motor-retarder group 11, drives Dynamic motor forward/reverse, transfers power to rear axle 12, then will be moved by the rear axle sprocket wheel 9 on rear axle 12 after retarder slows down Power is transmitted to the driving tethers wheel 83 of 82 side of drive shaft to drive the driving wheel 81 in drive shaft 82 to rotate.
When transfer robot left/right is turned, controller sends out left/right rotaring signal and gives steering stepper motor-retarder group 4, Driving motor forward/reverse transfers power to front axle 3 after retarder slows down, then is passed through by the front axle umbrella tooth 6 on front axle 3 It is engaged with the steering system umbrella tooth 27 on steering system screw rod 22, transfers power to steering shaft 25, to drive deflecting roller 24 positive and negative Turn, realizes 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, at this time robot start subsequent work cycle.Repeatedly, to complete in entire 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 driving system and hydraulic lifting system;Wherein,
Bindiny mechanism (15) is arranged on chassis (1), and transfer robot is connect by bindiny mechanism (15) with 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 axis It holds (5), front axle umbrella tooth (6) and turns to train (2);
Wherein, it turns to stepper motor-retarder group (4) to be fixed on chassis (1), front axle (3) is connected to steering step by spline The output end of stepper motor-retarder group (4), respectively two steering system bearings (5) of arrangement, front axle (3) are often held for two outer ends of front axle (3) 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 both ends, corresponding with two front axle umbrella tooth (6) to set It sets;
It is each to turn to train (2) including steering system nut (21), steering system screw rod (22), steering system upper plate (23), steering Take turns (24), steering shaft (25), steering system lifting lug (26) and steering system umbrella tooth (27);
Wherein, steering system upper plate (23) is fixed on chassis (1) lower face, and steering system upper plate (23) and chassis (1) are provided with The through-hole of lower perforation, the outer rim of steering bearing coordinate affixed, steering system spiral shell with the via clearance of steering system upper plate (23) The lower end of bar (22) and steering system lifting lug (26) are affixed, 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 it is affixed with the inner edge clearance fit of the steering bearing in steering system upper plate (23) through-hole;The steering system Lifting lug (26) is " u "-shaped lifting lug, 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) it being locked in vertical direction, steering system screw rod (22) upper end is provided with the steering system umbrella tooth (27) with chassis (1) parallel arrangement, Deflecting roller (24) is mounted on by steering shaft (25) on steering system lifting lug (26);
Front axle umbrella tooth (6) is engaged with steering system umbrella tooth (27);
Rear axle driving system is arranged in chassis (1) rear portion, rear axle driving system include driving motor-retarder group (11), rear axle (12), Driving is bearing (13), rear axle sprocket wheel (9) and drive train (8);
Wherein, driving motor-retarder group (11) is fixed on chassis (1), and rear axle (12) is fixed in driving motor-by spline The output end of retarder group (11), respectively two drivings of arrangement are bearing (13) to (12) two outer end of rear axle, and rear axle (12) is often held Two drivings are that rear axle sprocket wheel (9) is housed between bearing (13);
Two drive trains (8) are separately positioned on the both ends of chassis (1) rear portion lower face, corresponding with two rear axle sprocket wheel (9) Setting;
Each drive train (8) includes that top plate (85), the driving attaching lug plate (84) of left and right two, driving tethers wheel are fastened in driving (83), drive shaft (82) and driving wheel (81);
Driving fastens top plate (85) and is fixed in chassis (1) lower face, and the driving attaching lug plate (84) of left and right two is vertically fixed in driving It fastens on top plate (85), driving wheel (81) is rotatably connected on by drive shaft (82) on the driving attaching lug plate (84) of left and right two, is driven The side of moving axis (82) is disposed with driving tethers wheel (83), is connected by chain between driving tethers wheel (83) and rear axle sprocket wheel (9) It connects;
The hydraulic lifting system includes hydraulic cylinder (14), hydraulic oil source system, synchronous valve and fluid pressure line, four hydraulic cylinders (14) it is separately mounted to the quadrangle of chassis (1), hydraulic oil source system, synchronous valve and fluid pressure line are arranged in above chassis (1), It is connected to by fluid pressure line between hydraulic cylinder (14), hydraulic oil source system and synchronous valve.
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 mounted on chassis (1).
3. robot implement porter according to claim 1 or 2, it is characterised in that:
Driving is that setting driving is cushion block (10) under bearing (13), and driving is that cushion block (10) is fixed on chassis (1).
4. robot implement porter according to claim 1 or 2, it is characterised in that:
Steering shaft (25) both ends are equipped with wild card.
5. robot implement porter according to claim 1 or 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)

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

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
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

Citations (7)

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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
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

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