CN110182556A - Integral type Omni-mobile chassis - Google Patents
Integral type Omni-mobile chassis Download PDFInfo
- Publication number
- CN110182556A CN110182556A CN201910405619.3A CN201910405619A CN110182556A CN 110182556 A CN110182556 A CN 110182556A CN 201910405619 A CN201910405619 A CN 201910405619A CN 110182556 A CN110182556 A CN 110182556A
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- Prior art keywords
- chassis
- omni
- integral type
- mobile
- shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
- B65G25/065—Reciprocating floor conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses integral type Omni-mobile chassis, belong to homing guidance engineering device technique field.The present invention is by the sensors such as dynamical system needed for bobbin movement, magnetic force guidance system, optical guidance system and inertial navigation unit and control system integration on aluminum alloy chassis, chassis control program built in the microcontroller that control system uses cooperates matched upper computer software that can rapidly configure the sensor parameters of chassis travelling route and guidance.There is one above chassis for installing the compatibility bayonet of the third-party institution, also can be carried out while being mechanically fixed and communicated between electric energy transmission and mechanism module, the third-party institution is easily controlled with facilitating.
Description
Technical field
The present invention relates to integral type Omni-mobile chassis, belong to homing guidance engineering device technique field.
Background technique
The industries such as industry at present, storage are badly in need of having automatic orbit planning, guiding function, and can be complete in all directions in plane
At the AGV trolley of omnidirectional moving.And these trolleies have spent the plenty of time in the design on all-around mobile chassis.From motor and move
The type selecting of Force system, being installed to for sensor control writing for program, are doing a large amount of repetition works between different AGV manufacturers
Make.
Current existing Omni-mobile chassis integrated level of certain scale, but substantially there is no mitigate developer
For the research and development difficulty of control.Firstly, most of chassis in order to reduce processing cost, will use a large amount of standard components and be assembled,
After tolerance stack amplification between each standard component, it will lead to biggish rigging error, be unfavorable for the accurate positioning and control on chassis.
Meanwhile lacking the chassis of sensor, it is difficult to accomplish autokinetic movement, which has limited many industry spots for needing high position precision
Demand.Secondly, existing chassis patent is to be remotely controlled control or even only simple elaboration control principle mostly at present, it is practical
Being added on developer for task is not still light, and the tracking from self poisoning to motion profile, each problem is inconvenient to solve.
Current existing invention does not all refer to specific sensor type needed for positioning and motion control, and there is still a need for pass developer
The a series of activities such as type selecting, configuration, fusion, the programming of sensor, it is time-consuming and laborious, research and development progress has been dragged slowly significantly.And it is mentioned
The mating program supplied can only simply control the speed and angular speed of its traveling, belong to artificial and opened loop control, and developer needs
Complicated parameter configuration and track programming are carried out for different occasions.Meanwhile (such as speed adds most of chassis customized parameter
Speed etc.) trouble is updated, more new data requires to recompilate and download program every time, frequently plugs communication cable.This is
The presence of column problem leads to the Omni-mobile chassis product of still few maturations currently on the market.
Existing Omni-mobile chassis patent specifically includes that at present
Patent No. CN201820327590.2, a kind of Omni-mobile chassis.The mobile chassis that the invention is related to is by motor, complete
It is formed to wheel, control module, drive module and power supply system.The invention simply elaborates the shifting principle on Omni-mobile chassis,
But " how realizing Omni-mobile " is stopped at, and in practical applications, it is far from enough for only understanding the principle of its Omni-mobile
's.From the connection details of each running part, to how to realize that position-force control all do not refer to, it is difficult to be converted to from the patent
The finished product chassis that can be actually used.Patent No. CN201810951374.X, a kind of autonomous displaying based on omni-directional wheel are flat
Platform.A kind of autonomous display platform based on omni-directional wheel of the disclosure of the invention, including chassis and upper layer article-retaining shelf.It elaborates complete
To the Omni-mobile principle of mobile chassis and its one kind of application.But the specific implementation of its application is not explained in detail
It states.Also, during actual test, built by the chassis structure described in it, it can be because some unreasonable designs be led
Cause integral strength insufficient.
Summary of the invention
A series of sensors that the present invention is directed to be carried by chassis itself rapidly carry out industry spot configuration, for
Different places, selection enable or only install specific sensor.The chassis for carrying inertial sensor system can rapidly needle
Seamless switching use is carried out to different places, it is only necessary to import the trace information planned；And use optics or
The chassis of the various environmental characteristic sensors of magnetic force guide device can adapt to various types of while saving cost
Guide line, guarantee for different places compatibility.Chassis of the present invention provides the upper computer software of free configuration parameter, should
Host computer long-range monitoring can be carried out by matched wireless communication module and parameter updates, it is no longer necessary to continually plug cable
To carry out data communication.
The first purpose of the invention is to provide a kind of integral type Omni-mobile chassis, including dynamical system, vehicle frame, electricity
Pond, with power supply and the fixation kit of communication function, magnetic force guiding sensor, linear CCD and with the master of wireless communication module
Control device；The vehicle frame is hexagonal structure；The dynamical system is arranged at least 3 groups, respectively with mutual non-conterminous vehicle frame
Frame is fixed；The dynamical system includes omni-directional wheel, driving device and transmission device；Work of the transmission device in driving device
It is rotated with lower drive omni-directional wheel；The magnetic force guiding sensor, linear CCD are arranged on vehicle frame, with master control set linearly connected；
The master control set is microcontroller；The battery is dynamical system, magnetic force guiding sensor and linear CCD provide electric energy；Institute
It states fixation kit to be arranged on motor rack, be communicated between electric energy transmission and mechanism module for being mechanically fixed and carrying out.
In one embodiment of the invention, the all-around mobile in plane is completed on chassis using omni-directional wheel, can be with
It is tricycle chassis or wheel chassis；Tricycle chassis is uniformly distributed with 120 °, and wheel chassis is uniformly distributed with 90 °.
In one embodiment of the invention, the dynamical system include motor rack, motor, shaft coupling, transmission shaft and
Omni-directional wheel；The motor is fixedly connected by output shaft with one end of motor rack, and the other end of motor rack passes through flange transmission shaft
It is connect with omni-directional wheel；Flange transmission shaft is supported by the deep groove ball bearing that a pair is installed with one heart, and passes through shaft coupling with motor output shaft
Device transmits torque.
In one embodiment of the invention, the vehicle frame is integrally formed by aluminium alloy, and inside is equilateral triangle frame
Frame, periphery setting three frames parallel with three sides of a triangle respectively, three angles of inside triangle respectively with connect outside
Enclose the side connection of three frames.
In one embodiment of the invention, fixation hole is set on mutual non-conterminous three sides of vehicle frame, for fixed dynamic
Force system.
In one embodiment of the invention, the dynamical system is bolted on the fixation hole of vehicle frame respectively
On.
In one embodiment of the invention, motor rack is integrally formed by aluminium alloy.
In one embodiment of the invention, the shaft coupling is made of rigid axle sleeve and flexible cover plate；The rigidity
It is not closed at the top of axle sleeve, the projection on the direction along axis is in U-shape；The motor shaft and flange transmission shaft are inserted in stiff shaft set
Interior, flexible cover plate is by bolt presses on stiff shaft set.
In one embodiment of the invention, the motor shaft is D profile shaft.
In one embodiment of the invention, the flexible cover plate materials'use 42CrMo material.
In one embodiment of the invention, vehicle frame is on the parallel peripheral frame of inside triangle frame that setting is dynamic
Force system；Fixation kit is set in the peripheral frame adjacent with dynamical system.
In one embodiment of the invention, the top surface of fixation kit and electricity is respectively set on the side of lower portion
Source and communication signal input terminal and power supply and communication signal output end；Input terminal and output end are respectively the mountable third-party institution
Compatibility bayonet, communicated between so that fixation kit is also can be carried out electric energy transmission while being mechanically fixed mechanism module,
In one embodiment of the invention, the magnetic force guiding sensor is a pair of of Hall sensor array, is used for
Chassis lower magnetic guide line is detected, is advanced to carry out magnetic force guidance.
It in one embodiment of the invention, further include inertial positioning system on the chassis, for without guidance occasion
Autonomous positioning is carried out to advance along a series of coordinate points of setting.
The AGV trolley using integral type Omni-mobile chassis is also claimed in the present invention.
The utility model has the advantages that (1) is of the invention by the machinery on Omni-mobile chassis, dynamical system, sensor-based system and control system collection
At when to together, avoiding design and needing that there is the product of all-around mobile function, spend excessive energy on chassis, it is time-consuming to take
Power, the progress and rhythm for seriously having dragged slowly research and development of products.
(2) integral type omni-directional wheel mobile chassis itself of the present invention carries a series of sensors, can rapidly needle
Different industry spots is configured, for different places, selection enables or only install specific sensor.The former can
Rapidly to carry out seamless switching to different places, and unrestricted choice while the latter can save cost, guarantee compatibility.Together
When provide and freely configure the host computer of chassis parameter, the host computer can also carry out remotely monitoring by matched wireless module with
Parameter updates, it is no longer necessary to plug cable continually to carry out data communication.
(3) design present invention employs rigid axle sleeve and flexible cover plate as shaft coupling, cover board after mounting, clamp D
Drive gap is not present in the plane of profile shaft.Simultaneously impact force action can make when on flexible cover plate cover board generate slight deformation with
Absorb impact.After omni-directional wheel uniform rotation, impact disappears, and cover board deformation disappears.Any drive gap should be not present in the process.
Flexible cover plate materials'use 42CrMo, yield strength have high toughness more than high-speed steel, though so that it has flexibility
But great torque can still be transmitted.
(4) transmission shaft is supported using duplex bearing, so that motor is not subject to radial moment of flexure, keeps transmission shaft flat with ground always
Row, not will lead to wheel section and ground out of plumb and make double omni-directional wheel always only outside land or switching when due to
Height is different and generates vibration.
(5) side of transmission shaft is made into flange, when stamping same hole location on omni-directional wheel, may be implemented continuously
Gap transmission, and compared to keyway, flange can transmit bigger torque.
Detailed description of the invention
Fig. 1 is vehicle frame overall schematic；Wherein, 1, dynamical system；2, vehicle frame；3, fixation kit；4, battery；5, magnetic force draws
Derivative sensor；6, linear CCD；7, master control set.
Fig. 2 is dynamical system schematic diagram；Wherein, 11, motor rack；12, motor；13, shaft coupling；14, flange transmission shaft；
15, deep groove ball bearing；16, omni-directional wheel.
Fig. 3 is the structural schematic diagram of shaft coupling；Wherein, 21, rigid axle sleeve；22, flexible cover plate；23, motor shaft；14, it passes
Moving axis.
Fig. 4 is the structural schematic diagram of fixation kit；Wherein, 31, threaded hole；32, power supply and communication signal input terminal；33,
Power supply and communication signal output end.
Fig. 5 is the structural schematic diagram of motor rack.
Specific embodiment
Embodiment 1
As shown in Fig. 1~5, integral type Omni-mobile chassis, including dynamical system 1, integrally formed vehicle frame 2, battery 3,
With the fixation kit 4 powered with communication function, magnetic force guiding sensor 5, a pair of of linear CCD 6 and with wireless communication module
Master control set 7.
The vehicle frame 2 is integrally formed by aluminium alloy, inside be equilateral triangle frame, periphery setting respectively with triangle
Three parallel frames of three sides, three angles of inside triangle are connected with the side for connecting the frame of periphery three respectively, make vehicle frame 2
The hexagonal structure of peripheral shape.The structural strength is high, light weight, and precision is high.Thermal deformation caused by welding is avoided,
Reduce rigging error.
Fixation hole is arranged on mutual non-conterminous three sides in vehicle frame 2, and the dynamical system 1 is bolted on vehicle frame respectively
On 2 fixation hole.The dynamical system 1 includes motor rack 11, motor 12, the output shaft of motor, shaft coupling 13, flange transmission shaft
14 and omni-directional wheel 16；The omni-directional wheel 16 is double wheel；Motor rack 11 is integrally formed by aluminium alloy, and there are four through-holes for bottom, can
To be easily fixed on vehicle frame using bolt；There are four the threaded hole 31 of M4 around 12 output shaft of motor, bolt can be passed through
It is fixed on motor rack；The torque of motor 12 passes to flange transmission shaft 14 by shaft coupling 13.The flange transmission shaft 14 by
Two concentric deep groove ball bearings 15 support.Omni-directional wheel 16 guarantees to export with motor 12 by flange transmission shaft and shaft coupling 13
Axis synchronous rotary.
Further, the shaft coupling 13 is made of rigid axle sleeve 21 and flexible cover plate 22；The flexible cover plate material makes
With 42CrMo material；21 top of rigidity axle sleeve is not closed, and the projection on the direction along axis is in U-shape；The motor shaft
23 and flange transmission shaft 14 be inserted in rigid axle sleeve 21, flexible cover plate 22 by bolt presses on rigid axle sleeve 21.The electricity
Arbor is D profile shaft, and the D profile shaft after cover board compresses will be locked relative to shaft coupling 13, so that omni-directional wheel 16 and motor export
Axis rotates synchronously.
Vehicle frame 2 is that dynamical system is arranged on the parallel peripheral frame of inside triangle frame；It is adjacent with dynamical system
Fixation kit 3 is set in peripheral frame, multiple threaded holes 31 are set on the fixation kit, for various above fixed underpan
Mechanism；The top surface of fixation kit 3 and power supply and communication signal input terminal 32 and power supply are respectively set on the side of lower portion
With communication signal output end 33.Input terminal and output end are respectively the compatibility bayonet of the mountable third-party institution, make fixation kit 3
It also can be carried out while being mechanically fixed and communicated between electric energy transmission and mechanism module.
The bottom of vehicle frame 2 is equipped with each pair magnetic force guiding sensor 5 of front and back and a pair of of linear CCD 6 along the symmetry axis of vehicle frame
And be mounted on the inertial positioning system on a pair of adjacent side of vehicle frame, respectively by with 7 linearly connected of master control set；The master control
Device 7 is microcontroller (MCU), gyroscope, voltage conversion chip or communication module etc. is provided with, for obtaining the letter of sensor
Breath communicates with host computer and controls the rotation of base plate electric machine；The guide line on linear CCD ground for identification, with facilitate into
Row vision guided navigation；The magnetic force guiding sensor is a pair of of Hall sensor array, for detecting chassis lower magnetic guide line,
It advances to carry out magnetic force guidance；The inertial positioning system is used to carry out one along setting without guidance occasion progress autonomous positioning
Serial coordinate points are advanced.The bottom of vehicle frame 2 also sets up battery 4, provides electric energy for dynamical system and sensor.
The working principle of the invention: after chassis powers on, inertial navigation system is using position this moment as zero point, Liang Ge omnidirectional
Wheel and gyroscope start to measure the displacement in a pair of orthogonal direction and the angular speed of vehicle body respectively.It is vertical when orthogonal direction is to power on
It is y-axis in the direction of direction of advance, the direction vertical with y-axis is x-axis along the horizontal plane.The microcontroller angular velocity of master control is filtered
The yaw angle on chassis is obtained after wave, integral, and obtains the displacement based on zero moment after carrying out coordinate system conversion to orthogonal translation.Bottom
Packing dynamically adjusts the speed of traveling according to the expected path of setting with the actual coordinate obtained by sensor, so that chassis edge
Desired path advance.When using optical directory means or magnetic force guide device to identify path, chassis is in advance
Simultaneously can according to guide line relative to center sensor (center sensor of linear CCD be linear CCD central region line；
The line of the center sensor of Hall sensor) offset adjust horizontal component velocity so that position always while chassis is advanced
In the center of guide line.This series of movement is controlled by microcontroller, is not necessarily to manual intervention.Meanwhile microcontroller
Module is equipped with wireless communication module, can carry out data by matched wireless communication module with host computer and mutually pass, host computer
Chassis state can be monitored in real time or update chassis setting.
Comparative example 1
Inventor has also carried out following trial:
(1) it uses Mecanum wheel or the ordinary wheel of 360 degree of steering mechanism has been cooperated to replace double omni-directional wheel, as a result send out
It is existing, since the switching of Mecanum wheel accessory whorl is not that continuously, vibration is big when causing bobbin movement, noise is big, low efficiency.And turn
Need to increase motor inevitably then to the chassis of mechanism to control and turn to, this will increase the complexity of mechanism.It changes simultaneously
The steering of wheel is also required to the time, and efficiency is not so good as the chassis using double omni-directional wheel.
(2) vision guide is realized by infrared emission diode to replace magnetic force to guide, but its precision is low, guide line
The threshold value controllability distinguished with background is poor, is rung seriously by environment shadow, often can not accurately be known in illumination complex environment
Other guide line, and because its accuracy of identification is lower, data are not filtered in traveling process, chassis can occur more tight
The shake of weight, this is only applicable to the match of some specific environments or the trolley of low-speed motion.
Comparative example 2
Inventor has also carried out following trial:
(1) using pure positive coupling and clamp-type shaft coupling instead of D profile shaft of the invention, D type shaft coupling axle sleeve and soft
The combination of property shaft coupling cover board.Clamp-type shaft coupling is without drive gap, but the torque transmitted is smaller, is particularly easy to skid, and
And clamping force all leans on jackscrew and screw thread to bear, jackscrew may loosen or stripped thread due to overstress over time, so that passing
The peak torque passed becomes smaller.Although and using cased muff coupling can be to axis in starting and brake there is no slippage problems
Huge impact is generated, motor shaft and transmission shaft can thus gradually generate serious deformation.
(2) a pair of of deep groove ball bearing is replaced to support transmission shaft using single-bearing, the power being subject to due to omni-directional wheel is with moment of flexure
Form is passed on motor shaft by axis and shaft coupling.So that slight deformation occurs for chassis motor shaft after heavy duty is long placed in.
(3) replace M4 bolt by fixed on omni-directional wheel and transmission shaft, public affairs of this method to key and keyway using key and keyway
Difference requires stringent.Interference fit will lead to wheel and be difficult to be inserted into keyway, it is necessary to be hammered using external force, this external force can generate damage to axis
Evil；And clearance fit can to generate drive gap between wheel and flange transmission shaft, reduce the precision when reciprocal transmission of chassis, and
And keyway is opened up on axis can reduce the mechanical strength of axis.
Although the present invention has been described by way of example and in terms of the preferred embodiments, it is not intended to limit the invention, any to be familiar with this skill
The people of art can do various change and modification, therefore protection model of the invention without departing from the spirit and scope of the present invention
Enclosing subject to the definition of the claims.
Claims (10)
1. integral type Omni-mobile chassis, which is characterized in that including dynamical system, vehicle frame, battery, there is power supply and communication function
Fixation kit, magnetic force guiding sensor, linear CCD and the master control set with wireless communication module；The vehicle frame is six sides
Shape structure；The dynamical system is arranged at least 3 groups, and the frame with mutual non-conterminous vehicle frame is fixed respectively；The dynamical system
Including omni-directional wheel, driving device and transmission device；The transmission device drives omni-directional wheel to rotate under the action of driving device；Institute
Magnetic force guiding sensor, linear CCD setting are stated on vehicle frame, with master control set linearly connected；The master control set is microcontroller
Device；The battery is dynamical system, magnetic force guiding sensor and linear CCD provide electric energy；The fixation kit is arranged in motor
On frame, communicated between electric energy transmission and mechanism module for being mechanically fixed and carrying out.
2. integral type Omni-mobile according to claim 1 chassis, which is characterized in that realize chassis flat using omni-directional wheel
All-around mobile in face；The chassis is tricycle chassis or wheel chassis；Tricycle chassis is with 120 ° of uniformly distributed omni-directional wheels, four-wheel bottom
Disk is with 90 ° of uniformly distributed omni-directional wheels.
3. integral type Omni-mobile according to claim 1 or 2 chassis, which is characterized in that the dynamical system includes electricity
Rack, motor, shaft coupling, transmission shaft and omni-directional wheel；The motor is fixedly connected by output shaft with one end of motor rack, motor
The other end of frame is connect by flange transmission shaft with omni-directional wheel；The deep groove ball bearing branch that flange transmission shaft is installed with one heart by a pair
It holds, and torque is transmitted by shaft coupling with motor output shaft.
4. integral type Omni-mobile according to any one of claims 1 to 4 chassis, which is characterized in that the vehicle frame is closed by aluminium
Golden to be integrally formed, inside is equilateral triangle frame, and three parallel with three sides of a triangle respectively frames are arranged in periphery, interior
Three angles of portion's triangle are connected with the side for connecting the frame of periphery three respectively.
5. integral type Omni-mobile according to claim 3 chassis, which is characterized in that the shaft coupling by rigid axle sleeve and
Flexible cover plate composition；It is not closed at the top of the rigidity axle sleeve, the projection on the direction along axis is in U-shape；The motor shaft and
Flange transmission shaft is inserted in stiff shaft set, and flexible cover plate is by bolt presses on stiff shaft set.
6. integral type Omni-mobile according to claim 3 chassis, which is characterized in that the flexible cover plate materials'use
42CrMo material.
7. integral type Omni-mobile according to claim 4 chassis, which is characterized in that the top surface of fixation kit and medial surface
On power supply and communication signal input terminal and power supply and communication signal output end is respectively set；Input terminal and output end are respectively that can pacify
The compatibility bayonet for filling the third-party institution makes fixation kit also can be carried out electric energy transmission and mechanism mould while being mechanically fixed
It is communicated between block.
8. any integral type Omni-mobile chassis according to claim 1~7, which is characterized in that magnetic force guiding sensor
For a pair of of Hall sensor array, it is equipped in chassis lower magnetic guide line.
9. the AGV trolley containing any integral type Omni-mobile chassis of claim 1~9.
10. any integral type Omni-mobile chassis of claim 1~8 or AGV trolley as claimed in claim 9 are in work
The application of industry, field of storing in a warehouse.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405619.3A CN110182556B (en) | 2019-05-16 | 2019-05-16 | Integrated omnidirectional mobile chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405619.3A CN110182556B (en) | 2019-05-16 | 2019-05-16 | Integrated omnidirectional mobile chassis |
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| CN110182556A true CN110182556A (en) | 2019-08-30 |
| CN110182556B CN110182556B (en) | 2020-11-06 |
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| CN201910405619.3A Active CN110182556B (en) | 2019-05-16 | 2019-05-16 | Integrated omnidirectional mobile chassis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587578A (en) * | 2019-09-09 | 2019-12-20 | 电子科技大学 | Badminton education robot based on aluminum profile modularization |
| CN110788491A (en) * | 2019-10-10 | 2020-02-14 | 大连理工大学 | Laser cutting machine |
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| CN108991840A (en) * | 2018-08-21 | 2018-12-14 | 华南理工大学 | A kind of autonomous display platform based on omni-directional wheel |
| CN109204595A (en) * | 2018-08-31 | 2019-01-15 | 华南理工大学 | Independent suspension Omni-mobile platform is set in a kind of hinge based on Mecanum wheel |
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| CN1369356A (en) * | 2002-03-21 | 2002-09-18 | 上海广茂达电子信息有限公司 | Personal robot |
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|---|---|---|---|---|
| CN110587578A (en) * | 2019-09-09 | 2019-12-20 | 电子科技大学 | Badminton education robot based on aluminum profile modularization |
| CN110788491A (en) * | 2019-10-10 | 2020-02-14 | 大连理工大学 | Laser cutting machine |
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| Publication number | Publication date |
|---|---|
| CN110182556B (en) | 2020-11-06 |
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