CN109383664A - A kind of heavy electric drive steering wheel of differential steering - Google Patents
A kind of heavy electric drive steering wheel of differential steering Download PDFInfo
- Publication number
- CN109383664A CN109383664A CN201811552569.3A CN201811552569A CN109383664A CN 109383664 A CN109383664 A CN 109383664A CN 201811552569 A CN201811552569 A CN 201811552569A CN 109383664 A CN109383664 A CN 109383664A
- Authority
- CN
- China
- Prior art keywords
- bogie
- plate
- steering wheel
- electric drive
- suspension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 claims abstract description 63
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 239000013013 elastic material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000011265 semifinished product Substances 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/164—Heaving; Squatting
Abstract
The present invention provides a kind of heavy electric drive steering wheels of differential steering, using differential steering technology, directly turned to using driving motor, it does not need in addition to arrange transfer, its is simple for structure, compact, be conducive to reduce the height of steering wheel, technical solution of the present invention includes hold-down support, pivoting support, bogie, suspension arm and vehicle wheel component, the hold-down support is connect by pivoting support with bogie, two groups of suspension arms are set below the bogie, and every group of suspension arm is equipped with one group of vehicle wheel component；One end of two groups of suspension arms is hinged by pin shaft and bogie lower surface, and the other end is cantilever end, and the vehicle wheel component includes wheel, the built-in hub reduction machine connecting with wheel and the driving motor for connecting built-in hub reduction machine.
Description
Technical field
The present invention relates to a kind of steering wheel mechanism, the heavy electric drive steering wheel of specially a kind of differential steering.
Background technique
Omnibearing wheel type mobile robot has started to widely apply in field of industrial manufacturing.It is lightly loaded Omnibearing wheel type moving machine
Device people is commonly used in mobile job platform, place patrol etc..
Heavily loaded Omnibearing wheel type mobile robot typically refers to comprehensive carrier, can be used for large parts, semi-finished product
The transport of part and finished parts in storehouse and workshop fabrication region.
In general, the drive system of Omnibearing wheel type mobile robot can be by multiple steering wheels or multiple omni-directional wheel (Omni
Wheel) or multiple Mecanum wheels (Mecanum wheel) etc. are constituted, and using motor driven, single-wheel loading is generally no greater than 3
Ton.
Steering wheel, omni-directional wheel and Mecanum wheel respectively have its advantage and disadvantage.In contrast, omni-directional wheel and Mecanum wheel load compared with
Low, surface evenness requires height, and maintenance cost is higher, the advantage is that drive system component parts is few, compact-sized, required cloth
Smaller between emptying, chassis is lower.And the component parts of steering wheel is more, required arrangement space is larger, the advantage is that load is big, road
Surface evenness requirement is low, and maintenance cost is lower.
Summary of the invention
The present invention provides a kind of heavy electric drive steering wheels of differential steering, using differential steering technology, directly utilize drive
Dynamic motor is turned to, and does not need in addition to arrange transfer, simple for structure, compact, is conducive to the height for reducing steering wheel.
Technical program of the present invention lies in:
Including hold-down support, pivoting support, bogie, suspension arm and vehicle wheel component, the hold-down support passes through revolution branch
It holds and is connect with bogie, two groups of suspension arms are set below the bogie, every group of suspension arm is equipped with one group of vehicle wheel component；
One end of two groups of suspension arms is hinged by pin shaft and bogie lower surface, and the other end is cantilever end, the wheel group
Part includes wheel, the built-in hub reduction machine connecting with wheel and the driving motor for connecting built-in hub reduction machine.
The hold-down support is set to above bogie as a preferred embodiment of the above solution, and the two is connected by pivoting support.
Two groups of axle sleeves are equipped on rear side of the bogie lower surface as a preferred embodiment of the above solution, every group of axle sleeve is by being set to
The trunnion at both ends is fixedly connected with bogie, and the suspension arm includes two blocks of parallel side plates, and both side plate rear end is solid by pin shaft
Fixed connection, the pin shaft are arranged in axle sleeve, and the wheel is set between both side plate.
Two groups of buffer gears are equipped on front side of the bogie lower surface as a preferred embodiment of the above solution, it is outstanding with two groups respectively
Corresponding on front side of hanger, the buffer gear includes upper bracket, undersetting and compressed spring, and compressed spring is connected to upper bracket under
Between support, the upper bracket is fixed on front side of reversing frame lower surface, fixes a undersetting on front side of every group of suspension arm.
The upper bracket includes fixed plate, support plate, column and spring base, the fixation as a preferred embodiment of the above solution,
Plate is fixed on reversing frame lower surface, and two root posts are vertically fixed in fixed plate, and spring base is fixed in fixed plate, and is located at two
Between root post, the spring base lower end is cone structure, and compressed spring upper end is sheathed on outside cone structure, and the support plate is solid
Due to two root posts lower end, support plate center is equipped with the through-hole passed through for compressed spring, and the undersetting includes propping up under one piece
Seat board, lower support plate center are equipped with the through-hole passed through for compressed spring, and the lower support plate is equipped with one piece of elastic material system
At buffer stopper, the compressed spring is passed down through the buffer stopper.
The suspension arm includes one piece of front end panel and one piece of rear bearing sheet, back and front supporting as a preferred embodiment of the above solution,
Plate is set between two blocks of side plates, and for the wheel between back and front supporting plate, the lower front of the front end panel is equipped with one
Bracer, the undersetting are set in the supporting block, and the pin shaft is set to the rear side of rear bearing sheet；The front side of the upper bracket to
Lower bending is folded upward on front side of undersetting.
The bogie two sides are respectively installed with one piece of suspension limit plate, the suspension limit as a preferred embodiment of the above solution,
The front of bogie side is fixed in plate upper end, and lower end extends on the outside of two groups of suspension arms, limits on the suspension arm with suspension
The opposite side of plate is equipped with a limited post, and limited post is located at the front side of suspension limit plate, and the suspension limit plate lower end is to front side
It is bent to form L-shaped structure.
The hold-down support center is equipped with a through-hole as a preferred embodiment of the above solution, and the through-hole side wall is equipped with one and extends
To the bracket in through-hole center, the cantilever end of the bracket is equipped with an angular transducer, for monitoring the heavy electric drive steering wheel
Steering angle.
The heavy electric drive steering wheel further includes motor control box as a preferred embodiment of the above solution, is set to bogie following table
Region between the axle sleeve of two groups of face.
The beneficial effect of above structure is:
(1) single steering wheel maximum load rating is up to 25 tons, required arrangement space length, width and height size be only 1250mm ×
1250mm × 600mm, load density have reserved enough height space layout hoistable platforms up to 16 tons every square metre.
(2) steering wheel uses differential steering technology, and driving motor is directly utilized and is turned to, and does not need in addition to arrange steering
Device, structure is more succinct and compact, is conducive to the height for reducing steering wheel, effectively reduces cost.
(3) steering wheel includes spring suspension, can compensate for superelevation of highway surface, and the requirement for the surface evenness that satisfies the need is lower.
(4) steering wheel uses modularized design, and convenient for extension, carrier is formed by full payload demand using several steering wheels
Drive system can easily meet 100-1000 tons of load the needs of.
Detailed description of the invention
Fig. 1 is configuration schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of suspension arm in the present invention.
Fig. 3 is the structural schematic diagram of upper bracket in the present invention.
Fig. 4 is main view of the invention.
Fig. 5 is the left view of Fig. 4.
Fig. 6 is the right view of Fig. 4.
Fig. 7 is the top view of Fig. 4.
Fig. 8 is the bottom view of Fig. 4.
Specific embodiment
Below in conjunction with attached drawing detailed description of the present invention embodiment.
It should be noted that in the present embodiment, for the description convenient for positional relationship between each structure, arranging suspension arm 10
13 place side of upper pin is front side, and the side of installation undersetting 9 is rear side.
The technical solution of the present embodiment includes hold-down support 1, pivoting support 3, bogie 4, suspension arm 10 and vehicle wheel component,
The hold-down support 1 is connect by pivoting support 3 with bogie 4, is arranged two groups of suspension arms 10 below the bogie 4, and every group
Suspension arm 10 is equipped with one group of vehicle wheel component；
One end of two groups of suspension arms 10 is hinged by pin shaft 13 and 4 lower surface of bogie, and the other end is cantilever end, the vehicle
Wheel assembly includes wheel 12, the built-in hub reduction machine connecting with wheel and the driving motor 11 for connecting built-in hub reduction machine.
In the present embodiment, the hold-down support 1 is set to 4 top of bogie, and the two is connected by pivoting support 3.
In the present embodiment, two groups of axle sleeves 15 are equipped on rear side of 4 lower surface of bogie, every group of axle sleeve 15 is by being set to two
The trunnion at end is fixedly connected with bogie 4, and the suspension arm 10 includes two blocks of parallel side plates 101, and 101 rear end of both side plate passes through
Pin shaft 13 is fixedly connected, and the pin shaft 13 is arranged in axle sleeve 15, and the wheel is set between both side plate 101.
In the present embodiment, two groups of buffer gears are equipped on front side of 4 lower surface of bogie, respectively with two groups of suspension arms 10
Front side is corresponding, and the buffer gear includes upper bracket 6, undersetting 9 and compressed spring 7, and compressed spring 7 is connected to 6 He of upper bracket
Between undersetting 9, the upper bracket 6 is fixed on front side of reversing frame lower surface, fixes a undersetting on front side of every group of suspension arm 10
9。
In the present embodiment, the upper bracket 6 includes fixed plate 601, support plate 604, column 602 and spring base 603, institute
It states fixed plate 601 and is fixed on reversing frame lower surface, two root posts 602 are vertically fixed in fixed plate 601, and spring base 603 is fixed
In in fixed plate 601, and between two root posts 602,603 lower end of spring base is cone structure, 7 upper end of compressed spring
It is sheathed on outside cone structure, the support plate 604 is fixed on 602 lower end of two root posts, and 604 center of support plate is equipped with for compressing
The through-hole that spring 7 passes through, the undersetting 9 include one block of 9 plate of undersetting, and 9 plate center of undersetting is equipped with wears for compressed spring 7
The through-hole crossed, 9 plate of undersetting are equipped with buffer stopper 8 made of one block of elastic material, and the compressed spring 7 is passed down through this
Buffer stopper 8.
In the present embodiment, the suspension arm 10 includes one piece of front end panel 102 and one piece of rear bearing sheet 104, forward and backward branch
Fagging 104 is set between two blocks of side plates 101, and the wheel is between back and front supporting plate 104, before the front end panel 102
Side lower part is equipped with a supporting block, and the undersetting 9 is set in the supporting block, after the pin shaft 13 is set to rear bearing sheet 104
Side；It is bent downward on front side of the support plate of the upper bracket 6, the front side of undersetting 9 is folded upward at.
In the present embodiment, 4 two sides of bogie are respectively installed with one piece of suspension limit plate 5, on the suspension limit plate 5
The front of 4 side of bogie is fixed at end, and lower end extends to two groups of suspension arms, 10 outside, limits on the suspension arm 10 with suspension
The opposite side of plate 5 is equipped with a limited post 103, and limited post 103 is under the front side of suspension limit plate 5, the suspension limit plate 5
Side is bent to form L-shaped structure forward at end.
In the present embodiment, 1 center of hold-down support is equipped with a through-hole, and the through-hole side wall is equipped with one and extends to through-hole
The cantilever end of the bracket 16 in center, the bracket is equipped with an angular transducer 2, for monitoring turning for the heavy electric drive steering wheel
To angle.
In the present embodiment, the heavy electric drive steering wheel further includes motor control box 14, is set to 4 lower surface two of bogie
Region between group axle sleeve 15.
In above structure, hold-down support 1 is bolted on vehicle frame, and reversing frame can turn around 3 center of pivoting support
It is dynamic.
Angular transducer 2 is installed between bogie 4 and hold-down support 1, steering wheel steering angle can be monitored, realizes steering wheel corner
Closed-loop control.
The tail end of two suspension arms 10 is mounted on the trunnion of 4 lower section of bogie by respective pin shaft 13, bilateral symmetry,
Suspension arm 10 can be swung along respective pin shaft 13.
It is then propped up by the elastic element that upper bracket 6, compressed spring 7, buffer stopper 8, undersetting 9 form the front end of suspension arm 10
Support.
Suspension limit plate 5 is installed, suspension limit plate 5 is plate structure of the lower end with L shape bending part, is hanged on bogie 4
The side plate 101 of hanger 10 is equipped with limited post 103, in suspension arm 10 relative to reversing frame to lower swing when, can be to suspension arm
10 swing angle plays position-limiting action, prevents the pivot angle of suspension arm 10 excessive, and pendulum spring is kept to be pressurized always, avoids it de-
Out.
Suspension arm 10, pin shaft 13, upper bracket 6, compressed spring 7, buffer stopper 8, undersetting 9, suspension limit plate 5 collectively constitute
The suspension of trailing arm spring, two sets suspensions are symmetrically arranged, are swung independently of each other, with certain road surface compensation ability.
Driving motor, wheel, built-in hub reduction machine and motor control box collectively constitute the driving device of steering wheel, wheel and
Built-in hub reduction machine is mounted on the centre of suspension arm 10, and the side of suspension arm 10 inwardly is equipped with driving motor, same with wheel
Axis installation, motor control box are mounted below bogie 4, between two suspension arms 10, pass through cable and two driving motor phases
Even, the revolving speed of two driving motors in left and right can be controlled respectively, and the torque of driving motor output is after the amplification of built-in hub reduction machine
Vehicle wheel rotation is driven, realizes walking function.
Steering wheel uses differential steering technology, and the revolving speed by accurately controlling the driving motor of left and right two realizes turning function.
When left and right, wheel speed is equal, and when direction is identical, steering wheel keeps the walking of current steering angle Invariant line；When left and right, wheel speed is equal,
When contrary, steering wheel, which can stop, to be rotated in situ；When left and right wheel speed is unequal, steering wheel can be turned in walking
To.
Steering wheel uses modularized design, can use several steering wheels composition drive system as needed, meet load 100-1000
The demand of ton.
This steering wheel, which does not include lifting device, can design independent lifting device if carrier needs elevating function.Steering wheel
The border circular areas that sweep range is diameter phi 1120 is turned round, interval can arrange lifting cylinder；The arrangement height of steering wheel only needs
600mm can arrange hoistable platform thereon.Carrier whole height is can be controlled within 1 meter.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of heavy electric drive steering wheel of differential steering, it is characterised in that: including hold-down support, pivoting support, bogie, hang
Hanger and vehicle wheel component, the hold-down support are connect by pivoting support with bogie, are hanged for two groups of setting below the bogie
Hanger, every group of suspension arm are equipped with one group of vehicle wheel component；
One end of two groups of suspension arms is hinged by pin shaft and bogie lower surface, and the other end is cantilever end, the vehicle wheel component packet
Include wheel, the built-in hub reduction machine that connect with wheel and the driving motor for connecting built-in hub reduction machine.
2. heavy type electric drive steering wheel according to claim 1, it is characterised in that: the hold-down support is set on bogie
Side, the two are connected by pivoting support.
3. heavy type electric drive steering wheel according to claim 2, it is characterised in that: be equipped with two on rear side of the bogie lower surface
Group axle sleeve, every group of axle sleeve are fixedly connected by being set to the trunnion at both ends with bogie, and the suspension arm includes two pieces of parallel sides
Plate, both side plate rear end are fixedly connected by pin shaft, and the pin shaft is arranged in axle sleeve, and the wheel is set between both side plate.
4. heavy type electric drive steering wheel according to claim 3, it is characterised in that: be equipped with two on front side of the bogie lower surface
Group buffer gear, corresponding on front side of two groups of suspension arms respectively, the buffer gear includes upper bracket, undersetting and compressed spring,
Compressed spring is connected between upper bracket and undersetting, and the upper bracket is fixed on front side of reversing frame lower surface, every group of suspension arm
A undersetting is fixed in front side.
5. heavy type electric drive steering wheel according to claim 4, it is characterised in that: the upper bracket includes fixed plate, support
Plate, column and spring base, the fixed plate are fixed on reversing frame lower surface, and two root posts are vertically fixed in fixed plate, spring
Seat is fixed in fixed plate, and between two root posts, and the spring base lower end is cone structure, and compressed spring upper end is arranged
In outside cone structure, the support plate is fixed on two root posts lower end, and support plate center is equipped with to be led to for what compressed spring passed through
Hole, the undersetting include one piece of lower support plate, and lower support plate center is equipped with the through-hole passed through for compressed spring, the lower branch
Seat board is equipped with buffer stopper made of one block of elastic material, and the compressed spring is passed down through the buffer stopper.
6. electric drive steering wheel in center according to claim 5, it is characterised in that: the suspension arm includes one piece of front end panel
With one piece of rear bearing sheet, back and front supporting plate is set between two blocks of side plates, and the wheel is between back and front supporting plate, before described
The lower front of support plate is equipped with a supporting block, and the undersetting is set in the supporting block, and the pin shaft is set to rear bearing sheet
Rear side；It bends downward on front side of the upper bracket, is folded upward on front side of undersetting.
7. heavy type electric drive steering wheel according to claim 1, it is characterised in that: the bogie two sides are respectively installed with one piece
Limit plate is hung, the front of bogie side is fixed in the suspension limit plate upper end, and lower end extends on the outside of two groups of suspension arms,
The side opposite with suspension limit plate is equipped with a limited post on the suspension arm, and limited post is located at the front side of suspension limit plate, institute
It states suspension limit plate lower end and is bent to form L-shaped structure in side forward.
8. heavy type electric drive steering wheel according to claim 1, it is characterised in that: it is logical that the hold-down support center is equipped with one
Hole, the through-hole side wall are equipped with a bracket for extending to through-hole center, and the cantilever end of the bracket is equipped with an angular transducer, uses
In the steering angle for monitoring the heavy electric drive steering wheel.
9. heavy type electric drive steering wheel according to claim 1, it is characterised in that: the heavy type electric drive steering wheel further includes electricity
Machine control cabinet, the region between the axle sleeve of two groups of bogie lower surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552569.3A CN109383664A (en) | 2018-12-19 | 2018-12-19 | A kind of heavy electric drive steering wheel of differential steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552569.3A CN109383664A (en) | 2018-12-19 | 2018-12-19 | A kind of heavy electric drive steering wheel of differential steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109383664A true CN109383664A (en) | 2019-02-26 |
Family
ID=65430564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811552569.3A Pending CN109383664A (en) | 2018-12-19 | 2018-12-19 | A kind of heavy electric drive steering wheel of differential steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383664A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588266A (en) * | 2019-10-22 | 2019-12-20 | 广东博智林机器人有限公司 | Driving device and AGV chassis |
| CN111071371A (en) * | 2019-12-06 | 2020-04-28 | 燕山大学 | Multi-degree-of-freedom walking posture adjusting leg unit based on rigid-flexible coupling and intelligent robot platform thereof |
| CN111924003A (en) * | 2019-05-13 | 2020-11-13 | 上海乔戈自动化科技有限公司 | Differential steering wheel and AGV using same |
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| US4733737A (en) * | 1985-08-29 | 1988-03-29 | Reza Falamak | Drivable steerable platform for industrial, domestic, entertainment and like uses |
| CN106598050A (en) * | 2016-12-09 | 2017-04-26 | 南京晨光集团有限责任公司 | High-integration-level driving and steering integrated steering wheel system |
| US20180072355A1 (en) * | 2015-03-24 | 2018-03-15 | Tokyo Metropolitan Industrial Technology Research Institute | Rocker bogie |
| CN207579940U (en) * | 2017-11-30 | 2018-07-06 | 苏州安井自动化设备有限公司 | Vision guided navigation formula steering wheel driving mechanism |
| CN207683657U (en) * | 2017-12-28 | 2018-08-03 | 楚天科技股份有限公司 | A kind of driving steering wheel and automatic transport carriage |
| CN207889812U (en) * | 2018-02-01 | 2018-09-21 | 广州智轮科技有限公司 | The novel steering wheel driving device of double-wheel differential type driving |
| CN208149435U (en) * | 2018-05-02 | 2018-11-27 | 江苏冠宇机械设备制造有限公司 | Power steering mechanism for intelligent automatic guided vehicle |
| CN108995744A (en) * | 2018-08-30 | 2018-12-14 | 安徽凌坤智能科技有限公司 | A kind of differential drive device of AGV equipment |
| CN209814148U (en) * | 2018-12-19 | 2019-12-20 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy electric driven steering wheel |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4733737A (en) * | 1985-08-29 | 1988-03-29 | Reza Falamak | Drivable steerable platform for industrial, domestic, entertainment and like uses |
| US20180072355A1 (en) * | 2015-03-24 | 2018-03-15 | Tokyo Metropolitan Industrial Technology Research Institute | Rocker bogie |
| CN106598050A (en) * | 2016-12-09 | 2017-04-26 | 南京晨光集团有限责任公司 | High-integration-level driving and steering integrated steering wheel system |
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| CN108995744A (en) * | 2018-08-30 | 2018-12-14 | 安徽凌坤智能科技有限公司 | A kind of differential drive device of AGV equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924003A (en) * | 2019-05-13 | 2020-11-13 | 上海乔戈自动化科技有限公司 | Differential steering wheel and AGV using same |
| CN110588266A (en) * | 2019-10-22 | 2019-12-20 | 广东博智林机器人有限公司 | Driving device and AGV chassis |
| CN111071371A (en) * | 2019-12-06 | 2020-04-28 | 燕山大学 | Multi-degree-of-freedom walking posture adjusting leg unit based on rigid-flexible coupling and intelligent robot platform thereof |
| CN111071371B (en) * | 2019-12-06 | 2020-11-06 | 燕山大学 | Multi-degree-of-freedom walking posture adjusting leg unit based on rigid-flexible coupling and intelligent robot platform thereof |
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