CN109591913B - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
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- CN109591913B CN109591913B CN201910067407.9A CN201910067407A CN109591913B CN 109591913 B CN109591913 B CN 109591913B CN 201910067407 A CN201910067407 A CN 201910067407A CN 109591913 B CN109591913 B CN 109591913B
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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
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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Abstract
The present disclosure provides a robot chassis and a robot. The robot chassis includes: a first layer of disc bodies; the driving wheel mounting structure is hinged to the first layer of disc body; the driving wheel assembly comprises a driving wheel and a driving mechanism in driving connection with the driving wheel, and the driving wheel assembly is mounted on the driving wheel mounting structure; the second layer of disc body is spaced from the first layer of disc body and is relatively and fixedly arranged above the first layer of disc body; and the upper end of the damping mechanism is hinged with the second layer of disc body, and the lower end of the damping mechanism is hinged with the driving wheel mounting structure. The technical scheme disclosed by the invention is favorable for increasing the stability of the robot when the robot passes through uneven road surfaces by using a simple damping design.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to a robot chassis and a robot.
Background
With the rapid development of artificial intelligence technology, robots with mobility gradually enter more fields, and provide various services for people.
The robot chassis is a key part for controlling the motion of the robot and has decisive influence on the trafficability characteristic, stability, safety and walking posture of the robot. The robot chassis is generally classified into a wheel type chassis, a crawler type chassis, a leg type chassis, a snake type chassis, and the like according to the moving mode. Among them, the wheel chassis is the preferred moving mode of the mobile robot due to the reasons of simple control, low cost, high motion efficiency, etc.
The wheel type chassis of the robot in the prior art partially adopts a three-wheel structure with two driving wheels and one follow-up wheel, the structure is simple in the mode, the phenomenon that the driving wheels are suspended cannot occur, the reliability is high, but the structural stability is poor, the robot can fall down easily when external force is encountered, and the robot cannot be applied to the high-gravity center robot. The wheel type chassis of some existing robots adopts a four-wheel structure, two driving wheels are positioned at the geometric center of the chassis of the robot, and a follow-up wheel is respectively arranged at the front and the back of the chassis of the robot. And part of the existing robot wheel type chassis is provided with a suspension system according to the design of an automobile suspension system, but the structure is complex and the cost is high.
Disclosure of Invention
The purpose of this disclosure is to provide a robot chassis and have this robot chassis's robot.
A first aspect of the present disclosure provides a robot chassis, comprising: a first layer of disc bodies; the driving wheel mounting structure is hinged to the first layer of disc body; the driving wheel assembly comprises a driving wheel and a driving mechanism in driving connection with the driving wheel, and the driving wheel assembly is mounted on the driving wheel mounting structure; the second layer of disc body is spaced from the first layer of disc body and is relatively and fixedly arranged above the first layer of disc body; and the upper end of the damping mechanism is hinged with the second layer of disc body, and the lower end of the damping mechanism is hinged with the driving wheel mounting structure.
In some embodiments, the two driving wheel mounting structures are respectively hinged to the left side and the right side of the first layer of the disc body; the two driving wheel assemblies are respectively arranged on the two driving wheel mounting structures; the two damping mechanisms are respectively arranged corresponding to the two driving wheel mounting structures, and the lower end of each damping mechanism is hinged with the corresponding driving wheel mounting structure.
In some embodiments, the robot chassis includes follower wheels disposed on the first layer of disks.
In some embodiments, the robot chassis includes four of the follower wheels, the four follower wheels including two front wheels disposed at a front portion of the first layer of the disk and two rear wheels disposed at a rear portion of the first layer of the disk, the drive wheel being located between the front wheels and the rear wheels.
In some embodiments, the four follower wheels are disposed at four corners of the first layer disk.
In some embodiments, two of the shock absorbing mechanisms are arranged side by side for each of the driving wheel assemblies.
In some embodiments, the drive wheel mounting structure comprises: the connecting rod comprises a first arm and a second arm arranged at an angle with the first arm, and one end, far away from the second arm, of the first arm is hinged with the first layer of disc body; and the mounting plate is fixedly connected with the second arm, and the driving mechanism is mounted on the mounting plate.
In some embodiments, the robot chassis includes a detection control device disposed between the first layer of trays and the second layer of trays.
In some embodiments, the detection control means comprises a motor driver, a controller and/or a signal detector.
In some embodiments, the robot chassis further comprises a battery and a third layer of trays, the third layer of trays being spaced from and relatively fixedly disposed above the second layer of trays, the battery being disposed between the second layer of trays and the third layer of trays.
A second aspect of the present disclosure provides a robot comprising a robot chassis of the first aspect of the present disclosure.
Based on the robot chassis and the robot provided by the disclosure, through the matching connection of the first layer of disc body, the second layer of disc body, the damping mechanism and the driving wheel mounting structure, the stability of the robot when the robot passes through uneven roads is improved by a simple damping design; the interval between the first layer of disk body and the second layer of disk body can arrange the component part of robot, does benefit to and realizes that each part layering of robot arranges, improves the security of robot.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a schematic perspective view of a robot chassis according to an embodiment of the present disclosure.
Fig. 2 is a rear view structural schematic diagram of the robot chassis of the embodiment shown in fig. 1.
Fig. 3 is a schematic bottom view of the robot chassis of the embodiment shown in fig. 1.
Fig. 4 is a rear view schematic diagram of the robot chassis of the embodiment shown in fig. 1, with a part of the structure removed.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.
In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
As shown in fig. 1-4, embodiments of the present disclosure provide a robot chassis. The robot chassis mainly comprises a first layer of disc body 1, a driving wheel mounting structure, a driving wheel assembly, a second layer of disc body 2, a damping mechanism 5 and a follow-up wheel 9. The driving wheel mounting structure is hinged to the first layer of disc body 1. The driving wheel assembly comprises a driving wheel 8 and a driving mechanism 7 in driving connection with the driving wheel 8, and the driving wheel assembly is mounted on the driving wheel mounting structure. The second layer of disc body 2 and the first layer of disc body 1 are arranged above the first layer of disc body 1 in a spaced and relatively fixed mode. The upper end of the damping mechanism 5 is hinged with the second layer of the disc body 2, and the lower end of the damping mechanism 5 is hinged with the driving wheel mounting structure.
The robot chassis provided by the embodiment of the disclosure is connected with the driving wheel mounting structure through the matching of the first layer of the disc body 1, the second layer of the disc body 2, the damping mechanism 5, and the driving wheel mounting structure, so that the stability of the robot when the robot passes through uneven roads is improved through a simple damping design. The interval between the first layer disk body 1 and the second layer disk body 2 of the robot chassis can arrange the component parts of the robot, which is beneficial to realizing the layered arrangement of all parts of the robot and improving the safety of the robot.
As shown in fig. 1 to 4, in some embodiments, two driving wheel mounting structures are respectively hinged to the left and right sides of the first layer tray body 1; the two driving wheel assemblies are respectively arranged on the two driving wheel mounting structures; the two damping mechanisms 5 are respectively arranged corresponding to the two driving wheel mounting structures, and the lower end of each damping mechanism 5 is hinged with the corresponding driving wheel mounting structure. Two drive wheels 8 are driven by respective driving mechanisms 7 in the arrangement, the walking and steering control of the drive wheels of the robot are flexible, and the stability and the flexibility of the chassis of the robot can be considered by fewer drive wheel assemblies.
As shown in fig. 1 to 4, in some embodiments, the robot chassis includes a follower wheel 9, and the follower wheel 9 is disposed on the first layer of the disc body 1. The arrangement of the follow-up wheels 9 can realize stable walking of the chassis of the robot under the condition of reducing the number of the drive wheels 8, and the reduction of the cost of the robot is facilitated. The following wheels 9 are universal wheels, for example, and can enhance the flexibility of the robot chassis.
As shown in fig. 1-4, in some embodiments, the robot chassis includes four follower wheels 9. The four follow-up wheels 9 include two front wheels disposed at the front of the first-layer disk body 1 and two rear wheels disposed at the rear of the first-layer disk body 1, and the driving wheel 8 is disposed between the front wheels and the rear wheels. Four follower wheels 9 are provided at, for example, four corners of the first-layer tray body 1, respectively. The arrangement mode of the follow-up wheels 9 is favorable for maximizing the supporting area of the robot chassis, thereby being favorable for improving the stability of the robot chassis.
As shown in fig. 1, in order to improve the stability of the robot chassis, two parallel shock absorption mechanisms 5 are correspondingly arranged on each driving wheel assembly.
As shown in fig. 1-4, in some embodiments, the drive wheel mounting structure primarily includes a link 4 and a mounting plate 6. The connecting rod 4 comprises a first arm and a second arm arranged at an angle with the first arm, and one end of the first arm far away from the second arm is hinged with the first layer of disc body 1. The mounting plate 6 is fixedly connected to the second arm, for example by a threaded connection. The drive mechanism 7 is mounted on the mounting plate 6. In some embodiments, each drive wheel mounting structure comprises two links 4 to make the drive wheel mounting structure more stable. By providing the connecting rod 4 and the mounting plate 6, the mounting space and the mounting stability of the driving mechanism 7 can be ensured.
As shown in fig. 1 to 4, in some embodiments, the robot chassis includes a detection control device disposed between the first layer of the disc 1 and the second layer of the disc 2. The detection control means includes at least one of a motor driver 10, a controller, and a signal detector. The detection control device and the driving part of the robot chassis are separately arranged, so that the safety of the robot is improved.
As shown in fig. 1 to 3, in some embodiments, the robot chassis further includes a battery 11 and a third layer of tray 3, the third layer of tray 3 is spaced from the second layer of tray 2 and is relatively fixedly disposed above the second layer of tray 2, and the battery 11 is disposed between the second layer of tray 2 and the third layer of tray 3. The battery 11 is, for example, a quick-change battery. Arranging the battery 11 between the third layer chassis 3 and the second layer chassis 1 is beneficial to preventing mutual influence and interference between the battery 11 and other components, and is beneficial to improving the safety of the robot.
The embodiment of the disclosure also provides a robot, which comprises the robot chassis. The robot of the disclosed embodiment has the same advantages as the robot chassis of the disclosed embodiment.
The structure and the working principle of the robot chassis according to an embodiment of the present disclosure are further described below with reference to fig. 1 to 4.
As shown in fig. 1 to 4, a robot chassis provided by the embodiment of the present disclosure has a three-layer structure. The robot chassis comprises three layers of disk bodies which are fixedly arranged from bottom to top at intervals in sequence, namely a first layer of disk body 1 positioned at the lowest layer, a second layer of disk body 2 positioned at the middle layer and a third layer of disk body 3 positioned at the uppermost layer. The shape of each layer of the tray body 1 can be set according to the requirement, the tray body can be round, square, round corner square and the like on the whole, the tray surface of the tray body can be flat, and an upper convex part, a lower concave part or a step part and the like can also be set according to the requirement. For example, in the embodiment shown in fig. 1 to 4, the third layer tray 3 includes a stepped portion. Various holes, grooves and the like can be arranged on the disc bodies according to requirements. The tray body can be connected with the tray body through a plurality of upright posts. The connection mode between the plate body and the upright post can be threaded connection, welding and the like.
As shown in fig. 1 to 4, the robot chassis includes two driving wheel assemblies, and two driving wheel mounting structures and two sets of damping mechanisms 5 corresponding to the two driving wheel assemblies. The driving wheels 8 of the two driving wheel assemblies are symmetrically arranged in the middle of the left side and the right side of the first layer of the disc body 1.
Each group of damper mechanisms 5 includes two damper mechanisms 5 provided on the front and rear sides of the corresponding drive wheel 8. The upper end of each damping mechanism 5 is hinged with the bottom of the second layer of the disc body 2, and the lower end of each damping mechanism 5 is hinged with the corresponding driving wheel mounting structure. As shown in fig. 4, each damper mechanism 5 includes a guide post that is retractable and a spring provided outside the guide post, and the spring of the damper mechanism 5 is compressible or stretchable in the extending direction of the guide post.
Each driving wheel mounting structure comprises two connecting rods 4 arranged in parallel and at intervals and a mounting plate 6 fixedly connected with the two connecting rods 4. Each of the two links 4 comprises a first arm and a second arm arranged at an angle to the first arm. The top end of the first arm is hinged with the first layer of disc body, for example, the hinge can be realized through a bearing. The lower end of the first arm is fixed to the first end of the second arm, the second arm is arranged substantially horizontally, and the mounting plate 6 is fixedly mounted substantially horizontally on the two second arms of the two links 4. The drive mechanism 7 is, for example, a servomotor. The driving mechanism 7 is fixedly mounted on the corresponding mounting plate 6. The driving wheel 8 is mounted on the output shaft of the driving mechanism 7 so that the driving mechanism 7 can drive the driving wheel 8 to rotate.
As shown in fig. 1 to 4, the robot chassis includes four follower wheels 9. The four follow-up wheels 9 are universal wheels and are respectively arranged at four corners of the first layer of the disc body 1. In this embodiment, four corners of the first layer tray 1 are rounded.
The detection control device is arranged below the second layer of disc body 2 and comprises a motor driver 10, a controller and a signal detector.
The battery 11 is a quick-change battery, and the quick-change battery is arranged below the second layer of tray body 2 and the third layer of tray body 3. As shown in fig. 2, two corner fittings are provided on the opposite surfaces of the second layer tray 2 and the third layer tray 3, respectively, and the four corner fittings define mounting spaces for quick-change batteries, which are mounted removably on the four corner fittings.
The working principle of the robot chassis is explained as follows: 6 wheels are installed on the first layer of the robot chassis 1, and the four round corners are provided with the follow-up wheels 9, so that the supporting area can be maximized as much as possible, and the stability of the robot is improved. Two drive wheels 8 are installed to the middle part left and right sides on robot chassis, and drive wheel 8 can be less than four follower wheels 9 under the effect of damper 5's spring under free state, and when robot chassis set up on subaerial, under the effect of gravity, damper 5's spring can be compressed, and until follower wheel 9 and drive wheel 8 are in the coplanar. In the walking process of the robot, if the robot runs on uneven ground, the driving wheel 8 can be always contacted with the ground through the adjusting action of the damping mechanism 5, so that enough friction force is provided to ensure the normal running of the robot. In this embodiment, the two driving wheels 8 are driven by independent driving mechanisms, and the functions of the robot, such as forward movement, backward movement, steering, etc., can be realized by changing the speed and steering of the left and right driving wheels 8. Because the driving wheel 8 is arranged in the middle of the chassis of the robot, the robot can rotate by taking the robot body as the center, and therefore the turning radius of the robot is smaller and even can be zero.
As shown in fig. 1 to 4, in this embodiment, an executing device of a robot chassis is disposed below the first layer tray body 1, and includes: the device comprises a driving wheel 8, a follow-up wheel 9, a servo motor, a damping mechanism 5 and a connecting rod 4; a detection control device is arranged below the second layer of disc body 2 and comprises a motor driver 10, a controller and a signal detector; a quick-change battery is arranged below the disc body 3 at the third layer.
As can be seen from the above description, the robot chassis and the robot having the same according to the above embodiments of the present disclosure have at least one of the following advantages:
through the cooperation of damper 5, connecting rod 4 and drive wheel mounting structure, do benefit to and realize that the robot drive wheel keeps contact with ground, solve the unsettled problem of drive wheel that the robot appears because of the ground unevenness at the walking in-process to do benefit to and realize the stationarity of robot when passing through the unevenness road surface.
The executing device, the detection control device and the battery 11 of the chassis are physically separated through the three layers of the disc bodies, and the safety of the robot is improved.
The robot chassis can be designed to have a smaller turning radius, so that the robot has stronger flexibility.
Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.
Claims (10)
1. A robot chassis, comprising:
a first layer of disc body (1);
the driving wheel mounting structure is hinged to the first layer of disc body (1);
the driving wheel assembly comprises a driving wheel (8) and a driving mechanism (7) in driving connection with the driving wheel (8), and is mounted on the driving wheel mounting structure;
the second layer of disc body (2) is spaced from the first layer of disc body (1) and is relatively and fixedly arranged above the first layer of disc body (1); and
the upper end of the damping mechanism (5) is hinged with the second layer of the disc body (2), and the lower end of the damping mechanism (5) is hinged with the driving wheel mounting structure;
wherein, the driving wheel mounting structure includes:
the connecting rod (4) comprises a first arm and a second arm arranged at an angle with the first arm, and one end of the first arm, which is far away from the second arm, is hinged with the first layer of disc body (1); and
mounting panel (6), with second arm fixed connection, actuating mechanism (7) install in on mounting panel (6) and be located the below of first layer disk body (1).
2. The robot chassis of claim 1,
the two driving wheel mounting structures are respectively hinged to the left side and the right side of the first layer of disc body (1);
the two driving wheel assemblies are respectively arranged on the two driving wheel mounting structures;
the two damping mechanisms (5) are respectively arranged corresponding to the two driving wheel mounting structures, and the lower end of each damping mechanism (5) is hinged with the corresponding driving wheel mounting structure.
3. Robot chassis according to claim 1, characterized in that the robot chassis comprises follower wheels (9), which follower wheels (9) are arranged on the first layer of discs (1).
4. A robot chassis according to claim 3, characterized in that the robot chassis comprises four said follower wheels (9), the four follower wheels (9) comprising two front wheels arranged in front of the first layer of discs (1) and two rear wheels arranged in rear of the first layer of discs (1), the drive wheels (8) being located between the front wheels and the rear wheels.
5. Robot chassis according to claim 4, characterized in that the four follower wheels (9) are arranged at four corners of the first layer of discs (1).
6. The robot chassis according to claim 1, characterized in that each of said driving wheel assemblies is provided with two of said shock absorbing mechanisms (5) juxtaposed.
7. Robot chassis according to claim 1, characterized in that it comprises a detection control device, which is arranged between the first layer of trays (1) and the second layer of trays (2).
8. Robot chassis according to claim 7, characterized in that the detection control means comprise a motor drive (10), a controller and/or a signal detector.
9. Robot chassis according to any of the claims 1-8, characterized in that the robot chassis further comprises a battery (11) and a third layer of trays (3), the third layer of trays (3) being arranged above the second layer of trays (2) spaced from and relatively fixed to the second layer of trays (2), the battery (11) being arranged between the second layer of trays (2) and the third layer of trays (3).
10. A robot, characterized in that the robot comprises a robot chassis according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910067407.9A CN109591913B (en) | 2019-01-24 | 2019-01-24 | Robot chassis and robot |
| PCT/CN2020/072118 WO2020151537A1 (en) | 2019-01-24 | 2020-01-15 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910067407.9A CN109591913B (en) | 2019-01-24 | 2019-01-24 | Robot chassis and robot |
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| Publication Number | Publication Date |
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| CN109591913A CN109591913A (en) | 2019-04-09 |
| CN109591913B true CN109591913B (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910067407.9A Active CN109591913B (en) | 2019-01-24 | 2019-01-24 | Robot chassis and robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN109591913B (en) |
| WO (1) | WO2020151537A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591913B (en) * | 2019-01-24 | 2020-02-07 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN110435786B (en) * | 2019-08-15 | 2024-04-30 | 纳恩博（北京）科技有限公司 | Robot and chassis thereof |
| CN111114669B (en) * | 2020-01-10 | 2024-07-16 | 京东科技信息技术有限公司 | Chassis and robot |
| CN212399661U (en) * | 2020-04-29 | 2021-01-26 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN111806597A (en) * | 2020-08-21 | 2020-10-23 | 黑龙江瑞物科技有限公司 | AGV intelligent movement chassis |
| CN112678087A (en) * | 2020-12-31 | 2021-04-20 | 深圳市普渡科技有限公司 | Mobile robot and walking mechanism thereof |
| CN112874646A (en) * | 2021-01-27 | 2021-06-01 | 特斯联科技集团有限公司 | Disinfection robot chassis |
| CN113263909A (en) * | 2021-05-31 | 2021-08-17 | 东风资产管理有限公司 | Four-wheel independent damping, steering and driving wheeled robot chassis |
| CN115489610A (en) * | 2021-06-17 | 2022-12-20 | 北京有竹居网络技术有限公司 | Chassis assembly and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006046406B3 (en) * | 2006-09-29 | 2008-02-07 | P & F Brother Industrial Corp. | Vehicle, has drive element installed on assembly seat, and drive wheels installed on assembly seat in rotatable manner, where drive wheels are rotated around central axis, and connecting unit placed at end of rear lever |
| JP2009214732A (en) * | 2008-03-11 | 2009-09-24 | Honda Motor Co Ltd | Suspension device for vehicle |
| CN106564047B (en) * | 2016-10-20 | 2019-08-20 | 上海思岚科技有限公司 | It is a kind of can shock-absorbing General Mobile robot chassis |
| CN206155615U (en) * | 2016-10-27 | 2017-05-10 | 北京伊娃机器人科技有限公司 | Robot chassis and have robot on this chassis |
| CN108944308A (en) * | 2017-06-20 | 2018-12-07 | 北京猎户星空科技有限公司 | Suspension mechanism for running gear and the walking robot with it |
| CN107672398B (en) * | 2017-08-17 | 2024-01-05 | 宁波市智能制造产业研究院 | Six-wheel AGV shock-absorbing chassis |
| CN207291555U (en) * | 2017-08-17 | 2018-05-01 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN207808961U (en) * | 2018-01-29 | 2018-09-04 | 北京金万象智能科技有限公司 | A kind of robot shock-damping structure |
| CN208409857U (en) * | 2018-06-13 | 2019-01-22 | 浙江大华技术股份有限公司 | A kind of dampening assembly, chassis and trolley |
| CN208376915U (en) * | 2018-06-28 | 2019-01-15 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN108973569A (en) * | 2018-08-07 | 2018-12-11 | 苏州博众机器人有限公司 | A kind of mobile chassis and service robot |
| CN109591913B (en) * | 2019-01-24 | 2020-02-07 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
-
2019
- 2019-01-24 CN CN201910067407.9A patent/CN109591913B/en active Active
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2020
- 2020-01-15 WO PCT/CN2020/072118 patent/WO2020151537A1/en active Application Filing
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| Publication number | Publication date |
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| WO2020151537A1 (en) | 2020-07-30 |
| CN109591913A (en) | 2019-04-09 |
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