CN108284889B - Moving driving method of logistics robot - Google Patents
Moving driving method of logistics robot Download PDFInfo
- Publication number
- CN108284889B CN108284889B CN201711319727.6A CN201711319727A CN108284889B CN 108284889 B CN108284889 B CN 108284889B CN 201711319727 A CN201711319727 A CN 201711319727A CN 108284889 B CN108284889 B CN 108284889B
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- rotating wheel
- rotating wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention relates to the technical field of robots, and discloses a movement driving method of a logistics robot, which comprises the following steps of arranging two support frames which are longitudinally arranged at intervals, wherein the two support frames are arranged at intervals; the bottom of the supporting frame is downwards protruded to form two supporting ends which are arranged in a front-back manner, each supporting end is rotatably connected with a rotating wheel which is longitudinally arranged, the periphery of each rotating wheel is provided with a plurality of rolling shafts which are arranged around the periphery of the rotating wheel, the rolling shafts are exposed on the periphery of the rotating wheel, and the axial directions of the rolling shafts and the axial directions of the rotating wheels are obliquely arranged; the four rotating wheels are driven to rotate in the same direction and at the same speed, so that the logistics robot moves forwards or backwards in a straight line manner; the four rotating wheels are driven to rotate at different speeds and rotate in different directions, so that the logistics robot can move in a steering mode or move in a translation mode without swinging the rotating wheels, and the logistics robot is simple in operation and structure.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a moving driving method of a logistics robot.
Background
Logistics refers to the overall process of planning, implementing and managing raw materials, semi-finished products, finished products or related information from the production location of a commodity to the consumption location of the commodity by means of transportation, storage, distribution and the like at the lowest cost in order to meet the needs of customers.
At present, after the commodities are transported to a centralized place from a production place, the commodities are generally assigned to the hands of consumers manually, along with the continuous development of the society and the continuous progress of science and technology, the continuous innovation of the research of people on robots is realized, more and more heavy physical labor is completed by the robots, and therefore the effects of convenience, high accuracy and high working efficiency can be achieved.
In the prior art, with the continuous development of the logistics industry, in the logistics industry, a logistics robot is used for replacing manual work to complete the work of receiving documents, receiving and sending goods and the like, but the conventional movement driving method of the logistics robot is to realize steering or translation and the like by means of swinging of a rotating wheel, so that the problems of inconvenience in operation and complex structure exist.
Disclosure of Invention
The invention aims to provide a moving driving method of a logistics robot, and aims to solve the problems of complex structure and inconvenient operation of the moving driving method of the logistics robot in the prior art.
The invention is realized in such a way that the moving driving method of the logistics robot is characterized in that two support frames which are longitudinally arranged at intervals are arranged, and the two support frames are arranged at intervals; the bottom of the supporting frame is downwards protruded to form two supporting ends which are arranged in a front-back mode, each supporting end is rotatably connected with a rotating wheel which is longitudinally arranged, the periphery of each rotating wheel is provided with a plurality of rolling shafts which are arranged around the periphery of the corresponding rotating wheel, the rolling shafts are exposed on the periphery of the corresponding rotating wheel, and the axial directions of the rolling shafts and the axial directions of the rotating wheels are obliquely arranged; the four rotating wheels are driven to rotate in the same direction and at the same speed, so that the logistics robot moves forwards or backwards in a straight line manner; the four rotating wheels are driven to rotate at different speeds and rotate in different directions, so that the logistics robot can move in a steering mode or move in a translation mode;
a rotating frame is arranged in the middle area of the two support frames, the rotating frame is provided with a rotating shaft which is transversely arranged, the rotating shaft stretches across between the two support frames, and two ends of the rotating shaft are respectively and correspondingly connected with the two support frames in a rotating manner; the rotating frame comprises a plurality of placing frames which are horizontally arranged, the placing frames are fixedly connected to the rotating shaft, and the placing frames are arranged at intervals around the periphery of the rotating shaft; the rotary rack is characterized in that a shell is sleeved outside the rotary rack, a containing cavity is formed in the shell, the plurality of placing racks are arranged in the containing cavity of the shell, the rotary shaft penetrates through the shell in a rotating mode, two ends of the rotary shaft extend out of two sides of the shell, an opening is formed in the shell, and the opening is communicated with the inside of the containing cavity of the shell.
Furthermore, the four rotating wheels comprise a left front rotating wheel, a left rear rotating wheel, a right rear rotating wheel and a right front rotating wheel; the rolling shaft on the left front rotating wheel and the rolling shaft on the right front rotating wheel are respectively arranged forwards in an inclined way along the axial direction from inside to outside of the rotating wheels; along the axial direction from inside to outside of the rotating wheel, the rolling shaft on the left rear rotating wheel and the rolling shaft on the right rear rotating wheel are respectively arranged in an inclined way towards the back.
Furthermore, the four rotating wheels are driven to rotate respectively, the two rotating wheels on the same supporting frame rotate in different directions, and the two rotating wheels arranged on the two supporting frames oppositely rotate in different directions, so that the logistics robot can translate laterally.
Furthermore, the two rotating wheels on the support frame are driven to rotate in different directions, the rotating wheel on the other support frame rotates, and the rotating wheel on the other support frame stops rotating, so that the logistics robot can be translated in the inclined direction.
Furthermore, the logistics robot is driven to rotate by driving the two rotating wheels on one supporting frame to rotate in the same direction and stopping the rotation of the rotating wheel on the other supporting frame.
Furthermore, the two rotating wheels which are oppositely arranged on the two support frames are driven to rotate in different directions, and the other rotating wheels stop rotating, so that the logistics robot turns.
Furthermore, the four rotating wheels are driven to rotate respectively, the two rotating wheels of the same support frame rotate in the same direction, and the rotating wheels between the two support frames rotate in different directions, so that the logistics robot rotates in situ.
Compared with the prior art, the moving driving method of the logistics robot provided by the invention has the advantages that the four rotating wheels are arranged on the two support frames, and the plurality of rolling shafts which are obliquely arranged are arranged on the peripheries of the rotating wheels in a surrounding manner, so that the logistics robot can be turned or translated by the different-speed rotation and the different-direction rotation of the four rotating wheels without swinging the rotating wheels, the operation is simple, and the structure is simple.
Drawings
Fig. 1 is a schematic perspective view of a logistics robot provided by an embodiment of the invention;
fig. 2 is a schematic perspective view of a charger according to an embodiment of the present invention;
fig. 3 is an enlarged schematic view at a in fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Referring to fig. 1-3, preferred embodiments of the present invention are provided.
The logistics robot provided by the invention is applied to the logistics industry and used for receiving and sending goods and the like.
The logistics robot comprises two support frames 20 which are longitudinally arranged, the two support frames 20 are arranged at intervals, a middle area is formed between the two support frames 20, and the bottoms of the two support frames 20 are respectively provided with a moving structure, so that the two support frames 20 can move by utilizing the moving structure; a rotating frame is arranged in the middle area of the two support frames 20, the rotating frame is provided with a rotating shaft 101 which is transversely arranged, the rotating shaft 101 spans between the two support frames 20, and two ends of the rotating shaft 101 are respectively and correspondingly connected with the two support frames 20 in a rotating way.
The rotating frame comprises a plurality of placing frames which are horizontally arranged, the placing frames are fixedly connected to the rotating shaft 101, the placing frames are arranged around the periphery of the rotating shaft 101 at intervals, and therefore the placing frames rotate along with the rotation of the rotating shaft 101.
A housing 100 is sleeved outside the rotating frame, a cavity is formed in the housing 100, the plurality of placing frames are arranged in the cavity of the housing 100, the rotating shaft 101 rotates and transversely penetrates through the housing 100, two ends of the rotating shaft 101 extend out of two sides of the housing 100, and therefore when the rotating shaft 101 rotates, the placing frames rotate along with the rotating shaft, but the housing 100 is kept in a non-rotating state; an opening is provided in the housing 100, and the opening communicates with the inside of the cavity of the housing 100.
Above-mentioned logistics robot that provides, the goods can be directly placed on the rack through shell 100's opening, perhaps, also can take out the goods on the rack through shell 100's opening, through the rotation of axis of rotation 101, can realize the position change of a plurality of racks to place the goods or take out the goods on realizing different racks, utilize the removal structure of two support frames 20 bottoms, then can realize whole logistics robot's removal, whole logistics robot simple structure, and the cost is also lower.
In this embodiment, the machine body 107 is disposed in the middle area of the two support frames 20, and two sides of the machine body 107 are respectively connected to the two support frames 20, so that the two support frames 20 can be connected into a whole by using the machine body 107, and the machine body 107 is disposed below the housing 100, which can reduce the gravity center of the logistics robot, so that the movement of the whole logistics robot is more stable, and other components of the logistics robot can be disposed in the machine body 107, thereby simplifying the structure.
The rack has the horizontal stand that is used for placing the goods, and this horizontal stand is the level and arranges, and direct placing such as goods then can on this horizontal stand, and the horizontal stand has the outside end that deviates from axis of rotation 101, and the outside end tilt up of horizontal stand forms and extends the side, and like this, the goods is placed behind the horizontal stand, under the restriction of extending the side, when avoiding the rack to rotate, the goods is by the problem that the outside end of horizontal stand dropped.
The top end part of the body 107 is recessed downwards to form a recessed area for the lower part of the shell 100 to be embedded into, thus facilitating the matching between the recessed area of the body 107 and the shell 100 and greatly reducing the overall physical dimension of the logistics robot. In addition, a camera is disposed on the periphery of the machine body 107, so that an environment image around the logistics robot can be obtained through the camera, and then image information is fed back to a controller in the machine body 107, and the controller can control a moving path, a moving speed and the like of the logistics robot.
In the present embodiment, the housing 100 is a disk shape arranged longitudinally, however, the housing 100 may have other shapes, which may be determined according to actual needs. A sliding door for closing or opening an opening of the housing 100 is provided on the housing 100. A touch screen is disposed on an outer surface of the sliding door, and a user can directly input instructions, such as a password, an authentication code, and the like, on the touch screen, so as to open or close the sliding door.
A display lamp for displaying an operation state of the movement driving method of the logistics robot, and the like is provided at the outer circumference of the middle portion of the housing 100.
In this embodiment, the logistics robot further includes a charger, the charger is installed in a longitudinally arranged bar, the bottom of the charger is fixedly arranged, the upper portion of the charger is provided with a storage battery 105, and the middle of the charger is provided with a connector 106, the connector 106 is used for being inserted into a charging port 107 of a machine body 107, so that the logistics robot can be charged by a mobile driving method, and the charger is convenient to arrange.
The lower part of the charger is hollowed out, so that the connection arrangement of the connector 106 and the charging port 107 of the machine body 107 is facilitated; the charger has the internal surface towards shell 100, and the upper portion of the internal surface of charger is equipped with the butt piece, and this butt piece can the butt on the surface of shell 100, and is equipped with the switch that charges on the butt piece, and like this, when the commodity circulation robot need charge, connector 106 inserts behind the mouth 107 that charges of organism 107, and the butt piece butt is behind the surface of shell 100, and the charger just can realize charging for the commodity circulation robot.
The bottom of support frame 20 forms by the support end 201 of arranging in proper order back and forth, and is provided with foretell mobile structure on supporting end 201 respectively, and like this, two support frames 20 are then formed with four support ends 201 respectively for whole logistics robot's removal is more steady.
The top of the support frame 20 has a connection end with a protrusion, and the end of the rotation shaft 101 is rotatably connected to the connection end of the support frame 20.
The support frame 20 has two support ends 201 and a connecting end, so that the whole support frame 20 forms a triangular arrangement, and the whole support strength and stability are stronger.
The support frame 20 comprises a support plate arranged longitudinally, two ends of the bottom of the support plate respectively extend downwards in a protruding manner to form the support ends 201 arranged in front and back, and the top of the support plate extends upwards in a protruding manner to form the connecting ends.
The moving structure comprises a rotating wheel 102 which is longitudinally arranged, and the rotating wheel 102 is rotatably connected to a supporting end 201 at the bottom of the supporting frame 20, so that the moving driving method of the logistics robot can be moved by means of the rotation of the rotating wheel 102.
In this embodiment, a plurality of rolling shafts 103 are disposed on the outer periphery of the rotating wheel 102, and the rolling shafts 103 are rotatably connected with the rotating wheel and exposed outside the outer periphery of the rotating wheel, that is, the rolling shafts 103 of the rotating wheel 102 are directly in contact with the ground. The rolling shafts 103 are arranged in parallel and are arranged at intervals around the outer circumference of the entire rotating wheel 102, and the axial directions of the rolling shafts 103 and the rotating wheel 102 are arranged obliquely.
In order to facilitate description of the four rotating wheels 102, the four rotating wheels 102 include a left front rotating wheel, a left rear rotating wheel, a right front rotating wheel and a right rear rotating wheel, the four rotating wheels 102 are driven to rotate forward at a constant speed to realize linear forward movement of the logistics robot, and the four rotating wheels 102 are driven to rotate backward at a constant speed to realize linear backward movement of the logistics robot; the steering or translation of the logistics robot is realized by driving the four rotating wheels 102 to rotate at different speeds and rotate in different directions.
According to the moving driving method of the logistics robot, the four rotating wheels 102 are arranged on the two support frames 20, and the plurality of rolling shafts 103 which are obliquely arranged are arranged on the peripheries of the rotating wheels 102 in a surrounding manner, so that the logistics robot can be turned or translated by the different-speed rotation and the different-direction rotation of the four rotating wheels 102 without swinging the rotating wheels 102, and the operation is simple and the structure is simple.
Specifically, along the axial direction from inside to outside of the rotating wheel 102, the rolling shaft 103 on the front left rotating wheel and the rolling shaft 103 on the front right rotating wheel are respectively arranged obliquely forward; along the axial direction from inside to outside of the rotating wheels 102, the rolling shafts 103 on the left rear rotating wheel and the rolling shafts 103 on the right rear rotating wheel are respectively arranged obliquely towards the rear, so that the tilting directions of the rolling shafts 103 on the two rotating wheels 102 arranged in front and at the rear are opposite to each other and the tilting directions of the rolling shafts 103 on the two rotating wheels 102 arranged in the two supporting frames 20 are opposite to each other for the same supporting frame 20. In this way, the moving state of the movement driving method of the logistics robot can be controlled more accurately by the rotating state of the plurality of rotating wheels 102.
In this embodiment, the four rotating wheels 102 are respectively driven to rotate, the two rotating wheels 102 on the same support frame 20 rotate in different directions, and the two rotating wheels 102 arranged on the two support frames 20 in opposite directions rotate in different directions, so that the lateral translation of the logistics robot is realized.
For example, the right translation of the logistics robot is realized by driving the left front rotating wheel and the right rear rotating wheel to respectively rotate forwards and driving the right front rotating wheel and the left rear rotating wheel to respectively rotate backwards.
The two rotating wheels 102 on one support frame 20 are driven to rotate in different directions, one rotating wheel 102 on the other support frame 20 rotates, and the other rotating wheel 102 stops rotating, so that the logistics robot can be translated in the inclined direction.
For example, the front left rotating wheel and the rear right rotating wheel are driven to rotate forward respectively, the front right rotating wheel is driven to rotate backward, and the rear left rotating wheel stops rotating, so that the logistics robot moves to the front right.
In this embodiment, the two rotating wheels 102 on one support frame 20 are driven to rotate in the same direction, and the rotating wheel 102 on the other support frame 20 stops rotating, so that the logistics robot is steered.
Or, the other rotating wheels 102 stop rotating by driving the two rotating wheels 102 arranged oppositely on the two support frames 20 to rotate in different directions, so that the logistics robot can also steer.
In this embodiment, the four rotating wheels 102 are respectively driven to rotate, the two rotating wheels 102 of the same support frame 20 rotate in the same direction, and the rotating wheels 102 between the two support frames 20 rotate in different directions, so that the logistics robot rotates in situ.
In this embodiment, the outer circumference of the rotating wheel 102 is provided with a groove ring around the outer circumference of the rotating wheel 102, and the rolling shaft 103 is embedded in the groove ring, thus facilitating the arrangement of the rolling shaft 103.
The groove ring has two opposite annular side walls to which the two ends of the rolling shaft 103 are rotatably connected, respectively.
Inclined planes 104 inclined in the same direction as the rolling shafts 103 are formed on the annular side walls, and for the same rotating wheel 102, the opposite inclined planes 104 on the two annular side walls are arranged in parallel, so that the rolling shafts 103 are arranged between the two inclined planes 104 arranged in parallel by arranging the inclined planes 104, and the rolling shafts 103 and the inclined planes 104 are arranged vertically, so that after the rolling shafts 103 are arranged, the inclination directions of the rolling shafts 103 on the same rotating wheel 102 can be ensured to be consistent.
Specifically, the plurality of inclined surfaces 104 on the annular side wall are arranged at intervals and staggered in sequence, so that the formation of the inclined surfaces 104 is facilitated, and the installation of the rolling shafts 103 between adjacent rolling shafts is facilitated.
The friction layer is sleeved on the periphery of the rolling shaft 103, so that the rolling friction force of the rolling shaft 103 is increased, and the moving driving method of the logistics robot is facilitated to move.
In addition, the groove strips are arranged on the periphery of the rolling shaft 103 and extend along the axial direction of the rolling shaft 103, so that the driving friction force between the rolling shaft 103 and the ground can be increased by arranging the groove strips, and the movement of the logistics robot is convenient to drive.
The outer circumference of the rolling shaft 103 is provided with an inclined groove which is arranged obliquely to the axial direction of the rolling shaft 103, so that advancing, turning, or translation, etc. can be more swiftly realized by the inclined groove when the rotation speed of the rotary wheel 102 is changed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The moving driving method of the logistics robot is characterized in that two support frames which are longitudinally arranged at intervals are arranged, and the two support frames are arranged at intervals; the bottom of the supporting frame is downwards protruded to form two supporting ends which are arranged in a front-back mode, each supporting end is rotatably connected with a rotating wheel which is longitudinally arranged, the periphery of each rotating wheel is provided with a plurality of rolling shafts which are arranged around the periphery of the corresponding rotating wheel, the rolling shafts are exposed on the periphery of the corresponding rotating wheel, and the axial directions of the rolling shafts and the axial directions of the rotating wheels are obliquely arranged; the four rotating wheels are driven to rotate in the same direction and at the same speed, so that the logistics robot moves forwards or backwards in a straight line manner; the four rotating wheels are driven to rotate at different speeds and rotate in different directions, so that the logistics robot can move in a steering mode or move in a translation mode;
a rotating frame is arranged in the middle area of the two support frames, the rotating frame is provided with a rotating shaft which is transversely arranged, the rotating shaft stretches across between the two support frames, and two ends of the rotating shaft are respectively and correspondingly connected with the two support frames in a rotating manner; the rotating frame comprises a plurality of placing frames which are horizontally arranged, the placing frames are fixedly connected to the rotating shaft, and the placing frames are arranged at intervals around the periphery of the rotating shaft; the rotary rack is characterized in that a shell is sleeved outside the rotary rack, a containing cavity is formed in the shell, the plurality of placing racks are arranged in the containing cavity of the shell, the rotary shaft penetrates through the shell in a rotating mode, two ends of the rotary shaft extend out of two sides of the shell, an opening is formed in the shell, and the opening is communicated with the inside of the containing cavity of the shell.
2. The movement driving method of a logistics robot of claim 1 wherein four of said turning wheels comprises a left front turning wheel, a left rear turning wheel, a right rear turning wheel and a right front turning wheel; the rolling shaft on the left front rotating wheel and the rolling shaft on the right front rotating wheel are respectively arranged forwards in an inclined way along the axial direction from inside to outside of the rotating wheels; along the axial direction from inside to outside of the rotating wheel, the rolling shaft on the left rear rotating wheel and the rolling shaft on the right rear rotating wheel are respectively arranged in an inclined way towards the back.
3. The movement driving method of the logistics robot of claim 1 or 2, wherein four rotating wheels are respectively driven to rotate, two rotating wheels on the same support frame rotate in different directions, and the two rotating wheels oppositely arranged on the two support frames rotate in different directions, so that the logistics robot can laterally translate.
4. The movement driving method of a logistics robot as claimed in claim 1 or 2, wherein two rotating wheels on one of the supporting frames are driven to rotate in opposite directions, one rotating wheel on the other supporting frame rotates, and the other rotating wheel stops rotating, so that the tilting direction of the logistics robot is translated.
5. The movement driving method of the logistics robot of claim 1 or 2, wherein the logistics robot is turned by driving two rotating wheels on one support frame to rotate in the same direction and stopping the rotation of the rotating wheel on the other support frame.
6. The movement driving method of the logistics robot as claimed in claim 1 or 2, wherein the logistics robot is turned by driving two rotating wheels oppositely arranged on the two support frames to rotate in different directions, and stopping the other rotating wheels.
7. The movement driving method of a logistics robot as claimed in claim 1 or 2, wherein four rotating wheels are respectively driven to rotate, two rotating wheels of the same support frame rotate in the same direction, and the rotating wheels between the two support frames rotate in different directions, so that the logistics robot rotates in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711319727.6A CN108284889B (en) | 2017-12-12 | 2017-12-12 | Moving driving method of logistics robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711319727.6A CN108284889B (en) | 2017-12-12 | 2017-12-12 | Moving driving method of logistics robot |
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| Publication Number | Publication Date |
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| CN108284889A CN108284889A (en) | 2018-07-17 |
| CN108284889B true CN108284889B (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711319727.6A Active CN108284889B (en) | 2017-12-12 | 2017-12-12 | Moving driving method of logistics robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068912A (en) * | 2017-12-12 | 2018-05-25 | 重庆浪尖渝力科技有限公司 | The driving structure of merchandising machine people |
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| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN106080780A (en) * | 2016-06-23 | 2016-11-09 | 湘潭大学 | A kind of variable volume shipping platform based on Mecanum wheel and operational approach thereof |
| CN206202544U (en) * | 2016-10-26 | 2017-05-31 | 好孩子儿童用品有限公司 | A kind of children's electric motor vehicle |
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2683140A1 (en) * | 2009-09-22 | 2011-03-22 | Rodrique Belzile | Vehicle with revolving driver station |
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2017
- 2017-12-12 CN CN201711319727.6A patent/CN108284889B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN106080780A (en) * | 2016-06-23 | 2016-11-09 | 湘潭大学 | A kind of variable volume shipping platform based on Mecanum wheel and operational approach thereof |
| CN206202544U (en) * | 2016-10-26 | 2017-05-31 | 好孩子儿童用品有限公司 | A kind of children's electric motor vehicle |
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
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