CN110341793A - Mobile underpan - Google Patents
Mobile underpan Download PDFInfo
- Publication number
- CN110341793A CN110341793A CN201910646731.6A CN201910646731A CN110341793A CN 110341793 A CN110341793 A CN 110341793A CN 201910646731 A CN201910646731 A CN 201910646731A CN 110341793 A CN110341793 A CN 110341793A
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- China
- Prior art keywords
- arm
- suspension
- fixedly connected
- wheel
- top crossbeam
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
- B60C11/14—Anti-skid inserts, e.g. vulcanised into the tread band
- B60C11/16—Anti-skid inserts, e.g. vulcanised into the tread band of plug form, e.g. made from metal, textile
- B60C11/1606—Anti-skid inserts, e.g. vulcanised into the tread band of plug form, e.g. made from metal, textile retractable plug
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
- B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
- B60G2206/10—Constructional features of arms
- B60G2206/124—Constructional features of arms the arm having triangular or Y-shape, e.g. wishbone
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to robotic technology fields, specifically disclose mobile underpan, including car body, suspension and wheel, and the car body includes integrally formed bottom plate；Bottom plate includes front, middle part and rear portion, and wherein the cross-sectional area of front and rear is respectively less than the cross-sectional area at middle part；The middle line that side plate, rear portion and front are fixedly connected on the two sides of front and rear about middle part is symmetrical；Suspension one end is fixedly connected with side plate；Wheel includes hub motor, and the suspension other end is fixedly connected with hub motor.Different road conditions, rugged environment can be dealt with using technical solution of the present invention.
Description
Technical field
The present invention relates to robotic technology fields, in particular to mobile underpan.
Background technique
As the market demand constantly extends, mobile robot detects ore, civilian service, the side such as security protection inspection in armament
There are great application space and market potential in face, for example, transformation power station can be made, the inspection of the Different high risk sites such as plant area, chemical plant
Robot；Fire, the disasters such as earthquake the rugged hazardous area of condition replace the artificial detection for carrying out environment；Freight house, workshop etc. can be with
Automatic Track Finding transports goods.The continuous extension of application scenarios is but also mobile robot chassis more needs setting for some adaptability
Meter, is preferably applied for it in various environment, can play the ability of robot well, improves the effect that task is completed
Rate.
Existing mobile robot chassis is mostly with wheeled, and based on crawler type, although crawler type can be applied to most field
Scape but its sport efficiency is low, noise is larger when movement, and manufacturing cost is high, wheeled to have preferable running efficiency, and existing wheeled
Electric-machine directly-driven is used on chassis design, wheel is directly connected to chassis, therefore is not easy to be traveling in the rugged scene of road conditions, bottom
Disk cannot passive avoidance well, this has resulted in the diminution of application scenarios, may be only available for plant area, the road surface evenness such as market
Environment in.
As wheeled mobile robot is in the continuous extension with field, the environment faced is also more severe, this is just needed
Want one kind that can deal with different road conditions, the wheel undercarriage of rugged environment.
Summary of the invention
In order to solve the above technical problems, the present invention provides mobile underpans.
Technical solution of the present invention is as follows:
Mobile underpan, including car body, suspension and wheel, the car body include integrally formed bottom plate；Bottom plate packet
Front, middle part and rear portion are included, wherein the cross-sectional area of front and rear is respectively less than the cross-sectional area at middle part；The two of front and rear
The middle line that side plate, rear portion and front are fixedly connected on side about middle part is symmetrical；Suspension one end is fixedly connected with side plate；Wheel
Including hub motor, the suspension other end is fixedly connected with hub motor.
It base case principle and has the beneficial effect that:
Car body includes integrally formed bottom plate, and structure is simple, is equipped with various power devices with traditional, transmission device
Bottom plate is compared, and space is big, and bearing capacity is strong, light and handy, convenient for safeguarding.It is driven, is may be implemented flexibly by the differential of hub motor
Movement, to deal with different road conditions.Traditional chassis needs to install differential mechanism, this programme passes through wheel to deal with complex road condition
Hub motor is in the case where realizing identical function, the space on the chassis also further saved.Hub motor has high simultaneously
Machinery driving efficiency, noise is small when driving.
It further, further include damper, damper one end is fixedly connected with side plate, and the other end is fixedly connected with suspension.
Be arranged damper can effective shock-absorbing, to improve to the adaptibilitys to response of severe road conditions.
Further, the suspension includes Top Crossbeam suspension and lower cross arm suspension；Top Crossbeam suspension and lower cross arm suspension wrap
Include symmetrically arranged first arm and the second arm；It is not parallel between first arm and the second arm；The one end of first arm and the second arm is solid
Surely it is connected in same first connection ring；The other end of first arm and the second arm has been respectively fixedly connected with the second connection ring.
Top Crossbeam suspension and lower cross arm suspension include symmetrically arranged first arm and the second arm, can make Top Crossbeam suspension and
Lower cross arm suspension intensity is higher.
Further, the length of the Top Crossbeam suspension is less than the length of lower cross arm suspension.
Two brachium of wishbone-type independent suspension is affected to the bounce positional parameter during wheels travel, and Top Crossbeam is outstanding
Frame is shorter, and lower cross arm suspension is longer, available ideal suspension performance, to reduce the bounce in driving process.
Further, two upper suspension fixed blocks and two lower suspension fixed blocks are fixedly connected on side plate；Top Crossbeam is outstanding
Second connection ring of frame and upper suspension fixed block are hinged；The second connection ring and lower suspension fixed block of lower cross arm suspension are hinged.
Top Crossbeam suspension and lower cross arm suspension are connect by upper suspension fixed block and lower suspension fixed block with side plate respectively, knot
Structure is simple, convenient for safeguarding.
Further, it is fixedly connected to damper fixed block on the side plate and lower cross arm suspension, the both ends of damper are equal
It is hinged with damper fixed block.
One end of damper is fixed on lower cross arm suspension, good damping effect.
Further, the hub motor includes wheel hub and driving motor, and driving motor is DC Brushless Motor, induced electricity
Machine, one of brushless, permanently excited direct current motor or switched reluctance machines.
Brush direct current motor has good electromagnetic moment control characteristic；The advantages of permanent-magnet brushless DC electric machine, is power density
Height, efficiency is just high, and controllability is good, and small in size, noise is relatively low；Switched reluctance machines construct the simplest, Ke Yi
High-speed cruising in large-scale revolving speed and torque, fast response time, manufacturing cost are relatively low.
Further, wheel includes tire, and tire wraps up wheel hub, and outer surface of tire is carved with decorative pattern.
The road holding of tire can be improved by decorative pattern.
Further, wheel hub fixed block, the first connection ring of Top Crossbeam suspension and lower cross arm suspension are fixedly connected on wheel hub
It is hinged with wheel hub fixed block.
Wheel hub is connect by wheel hub fixed block with Top Crossbeam suspension and lower cross arm suspension, and structure is simple, convenient for safeguarding.
Further, it is provided with a fixed arm between the first arm and the second arm of the Top Crossbeam suspension, the two of fixed arm
End is fixedly connected with the first arm and the second arm respectively；Two fixations are provided between the first arm and the second arm of lower cross arm suspension
Arm, the both ends of fixed arm are fixedly connected with the first arm and the second arm respectively.
Fixed arm, which is arranged, can be enhanced the intensity of Top Crossbeam suspension and lower cross arm suspension.
Detailed description of the invention
Fig. 1 is the perspective view of mobile underpan embodiment one；
Fig. 2 is the left view of mobile underpan embodiment one；
Fig. 3 is the front view of mobile underpan embodiment one；
Fig. 4 is the perspective view of one car body of mobile underpan embodiment；
Fig. 5 is the perspective view of one lower cross arm suspension of mobile underpan embodiment；
Fig. 6 is the sectional side elevation of two tire of mobile underpan embodiment；
Fig. 7 is the portion the A enlarged drawing of Fig. 6.
Specific embodiment
It is further described below by specific embodiment:
Appended drawing reference in Figure of description includes:
Car body 1, lower cross arm suspension 2, Top Crossbeam suspension 3, tire 4, hub motor 5, damper 6, upper suspension fixed block 7,
Lower suspension fixed block 8, wheel hub fixed block 9, damper fixed block 10, bottom plate 11, end side 12, side side plate 13, the first arm
14, the second arm 15, fixed arm 16, the first connection ring 17, the second connection ring 18, telescopic hole 19, telescopic mast 20, tension spring 21, fixture block
22, limited block 23.
Embodiment one
As shown in Figure 1, Figure 2 and Figure 3, mobile underpan, including car body 1, suspension, damper and wheel.
As shown in figure 4, car body 1 includes integrally formed bottom plate 11.Bottom plate 11 divides for front, middle part and rear portion, wherein before
The cross-sectional area in portion is less than the cross-sectional area at middle part；Front updip inclined weld is connected to three blocks of side plates, and three blocks of side plates and bottom plate 11 are common
Surround top and the stage body towards one side opening of rear portion.Rear portion and front are symmetrical about the middle line at middle part, and rear portion is welded with before
The identical three blocks of side plates in portion, three blocks of side plates at rear portion and three blocks of side plates of front are symmetrical about the middle line at middle part.It is convenient for statement,
In three blocks of side plates, the side plate close to front or rear end is known as end side 12, and the side plate positioned at front or rear portion two sides claims
For side side plate 13.
As shown in figure 5, suspension includes Top Crossbeam suspension 3 and lower cross arm suspension 2.Top Crossbeam suspension 3 and lower cross arm suspension 2 are equal
Including symmetrically arranged first arm 14 and the second arm 15；It is not parallel between first arm 14 and the second arm 15.First arm 14 and second
The one end of arm 15 is welded in same first connection ring 17；The other end of first arm 14 and the second arm 15 is respectively welded
Second connection ring 18.Wherein, it is provided with a fixed arm 16 between the first arm 14 and the second arm 15 of Top Crossbeam suspension 3, it is fixed
It is welded respectively with the first arm 14 of Top Crossbeam suspension 3 and the second arm 15 at the both ends of arm 16.First arm 14 of lower cross arm suspension 2 and
Be provided with two fixed arms 16 between two arms 15, the both ends difference lower cross arm suspension 2 of two fixed arms 16 with the first arm 14 and
The welding of second arm 15.
Two upper suspension fixed blocks 7 and two lower suspension fixed blocks 8 are welded on side side plate 13；Top Crossbeam suspension 3
The second connection ring 18 and upper suspension fixed block 7 it is hinged；The second connection ring 18 and the lower suspension fixed block 8 of lower cross arm suspension 2 are cut with scissors
It connects.
The length of Top Crossbeam suspension 3 and lower cross arm suspension 2 is affected to the bounce positional parameter during wheels travel.
Wishbone suspension used in general automobile is designed as that Top Crossbeam suspension 3 is shorter, and lower cross arm suspension 2 is longer, primarily to
Obtain ideal suspension performance.Used when Automobile Design wishbone-type independent suspension is l2/l1Value is 0.6~1.0
Between.Therefore the length l of Top Crossbeam suspension 3 and lower cross arm suspension 2 is selected in the present embodiment2/l1Ratio takes 0.65.According to required
Chassis size and application requirement, therefore distance is set to 75mm~115mm, l between two transverse arm hinges1=155mm~175mm, l2=
228mm~258mm obtains distance range between transverse arm suspension brachium and hinged place, and Top Crossbeam suspension 3 is 160mm long in the present embodiment
Width is 116mm, and 228mm wide long lower cross arm suspension 2 is 142mm, and hinged place spacing is between Top Crossbeam suspension 3 and lower cross arm suspension 2
95mm。
According to load weight bearing for not less than 10KG, hinged place spacing is 95mm between Top Crossbeam suspension 3 and lower cross arm suspension 2,
Design damper length is scheduled between 110mm~125mm, and in the present embodiment, damper 6 uses the spring of model CY-JZ-03
Damper 6, born maximum working pressure (MWP) are 300KG, elastic stiffness 600N/mm.On side side plate 13 and lower cross arm suspension 2
It is welded with damper fixed block 10, the both ends of damper 6 are hinged with damper fixed block 10.
Wheel includes tire 4 and hub motor 5.Tire 4 plays the role of vital, wheel in robot driving process
The good driving performance of tire 4 can ensure the steady safety of robot, continuous stability.It, can root in different application scenarios
According to scene environment, road conditions go to select different tires 4.There is different decorative patterns in 4 outer surface of tire, is roughly divided into；Be suitable for compared with
The highway tire 4 that hard pavement uses, lines is for lateral, longitudinal direction and vertically and horizontally；It is big to ground grip, decorative pattern groove width and
Deep cross-country tread pattern tire 4；Good combination property, adaptable mixed type rib tire 4.In the present embodiment, robot exists
Highway tire 4 is selected in market under the scene that plant area etc. is more smooth and ground is strong, if necessary to traveling in ground injustice
Mixed type rib tire 4 is selected under whole and bad environments scenes.
Hub motor 5 is the wheel type motor directly to be merged into a single whole with wheel hub and driving device, and driving device includes electricity
Machine part.Motor part mainly has DC Brushless Motor, induction machine, brushless, permanently excited direct current motor, switched reluctance machines
Etc..Brush direct current motor has good electromagnetic moment control characteristic, but its weight is big, and efficiency is also low, and mechanical commutation arrangement exists
It is easy to produce spark when movement, is not suitable for operating in more dirt, in moist environment.The advantages of permanent-magnet brushless DC electric machine, is function
Rate density is high, and efficiency is just high, and controllability is good, and small in size, noise is relatively low.Switched reluctance machines are to construct the most simply
, can in large-scale revolving speed and torque high-speed cruising, fast response time, comparatively manufacturing cost is low, but its vibrate
Greatly, poor reliability, the higher cost of control.Permanent-magnet brushless DC electric machine and switched reluctance machines comprehensive performance are more than other electricity
Machine is the motor type of current preference selection, and permanent magnetic brushless control performance compared with switched reluctance machines is good, considers further that
Designed chassis needs higher stability, therefore, permanent magnetic brushless is used in the present embodiment.
Specifically, hub motor 5 uses unilateral brushless DC hub motor 5QB01, institute, Qi Bang Motor Corporation in this implementation
It producing, for voltage in 36V~54V, power is 150~800W, and rated speed is between 400~1600rpm, having a size of 6.5 cun, material
For aluminium wheel, tire 4 is that carbon pricker ties up material.
Be welded with wheel hub fixed block 9 on wheel hub, the first connection ring 17 of Top Crossbeam suspension 3 and lower cross arm suspension 2 with wheel
Hub fixed block 9 is hinged.
The mobile underpan of the present embodiment simplifies the mechanical structure on tradition chassis, drives in combination with hub motor 5
It is dynamic, guiding mechanism is eliminated, realizes the chassis design of independent suspension formula four-wheel differentia movement；1 space of car body is big, makes convenient for basis
Corresponding secondary development is carried out with scene；Structure is simple, and lightly, practicability is high and convenient for safeguarding.It is realized by hub motor 5
Four-wheel differentia driving, may be implemented flexible motion, to deal with different road conditions.
Embodiment two
As shown in fig. 6, mobile underpan, the difference with embodiment one is, tire 4 is integrally formed with several flexible
Hole 19, telescopic hole 19 is along the radially uniform distribution of tire 4, and telescopic hole 19 is closed at one end close to 4 center of circle of tire, and telescopic hole 19 leans on
Closely 4 outer surface of tire is open at one end.
The outer wall of telescopic hole 19 is socketed with bellows (not shown), the bottom end and top of bellows respectively with telescopic hole 19
Closed end and ported end bonding.In the present embodiment, the outer wall of telescopic hole 19 refers to that telescopic hole 19 is in the intracorporal table of 4 chamber of tire
Face.
Bellows helps to improve the anti-pressure ability of telescopic hole 19, and telescopic hole 19 is avoided to issue in the excessive air pressure of tire 4
Change shape.
As shown in fig. 7, further including the telescopic mast 20 and tension spring 21 being arranged in telescopic hole 19；Telescopic mast 20 and telescopic hole 19
It is slidably connected.Fixture block 22 of the inner end of telescopic mast 20 integrally formed with evagination.21 one end of tension spring is Nian Jie with the inner end of telescopic mast 20,
The other end is Nian Jie with the closed end of telescopic hole 19.When 21 undeformed of tension spring, the outer end of telescopic mast 20 is located in telescopic hole 19.It is flexible
The inner wall in hole 19 is also bonded with semicircular limited block 23.When 21 undeformed of tension spring, limited block 23 and 20 inner end of telescopic mast away from
It is 2cm in the present embodiment from 2-4cm is not more than.Limited block 23 prevents telescopic mast 20 excessively overhanging for blocking fixture block 22.
When robot normally travel, vehicle wheel rotational speed is stablized, and is with reference to centrifugal force with the centrifugal force that telescopic mast 20 is subject at this time.
Under reference centrifugal force, telescopic mast 20 is located in telescopic hole.
When robot is stranded, wheel frictional force becomes smaller, and wheel spin, vehicle wheel rotational speed becomes faster.When vehicle wheel rotational speed becomes faster,
The centrifugal force that telescopic mast 20 is subject to, which is greater than, refers to centrifugal force, and centrifugal force at this time is greater than the elastic force of tension spring 21, and telescopic mast 20 stretches out
In telescopic hole 19；Telescopic mast 20 can increase the frictional force on wheel and ground at this time, and wheel is helped to get rid of poverty.When wheel normally travel
When, centrifugal force becomes smaller, and centrifugal force at this time, which is less than or equal to, refers to centrifugal force, and telescopic mast 20 contracts under the action of 21 elastic force of tension spring
It returns in telescopic hole 19.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these also should be considered as protection scope of the present invention, these all will not influence what the present invention was implemented
Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as specific embodiment can be used for explaining the content of claim.
Claims (10)
1. mobile underpan, including car body, suspension and wheel, which is characterized in that the car body includes integrally formed bottom
Plate；Bottom plate includes front, middle part and rear portion, and wherein the cross-sectional area of front and rear is respectively less than the cross-sectional area at middle part；Front
It is symmetrical about the middle line at middle part with side plate, rear portion and front is fixedly connected on the two sides at rear portion；Suspension one end and side plate are solid
Fixed connection；Wheel includes hub motor, and the suspension other end is fixedly connected with hub motor.
2. mobile underpan according to claim 1, it is characterised in that: further include damper, damper one end with
Side plate is fixedly connected, and the other end is fixedly connected with suspension.
3. mobile underpan according to claim 2, it is characterised in that: the suspension includes Top Crossbeam suspension under
Transverse arm suspension, Top Crossbeam suspension and lower cross arm suspension include symmetrically arranged first arm and the second arm；First arm and the second arm
Between it is not parallel；The one end of first arm and the second arm is fixedly connected in same first connection ring；First arm and the second arm
The other end has been respectively fixedly connected with the second connection ring.
4. mobile underpan according to claim 3, it is characterised in that: under the length of the Top Crossbeam suspension is less than
The length of transverse arm suspension.
5. mobile underpan according to claim 4, it is characterised in that: be fixedly connected to two on side plate and above hang
Frame fixed block and two lower suspension fixed blocks；Second connection ring of Top Crossbeam suspension and upper suspension fixed block are hinged；Lower cross arm is outstanding
The second connection ring and lower suspension fixed block of frame are hinged.
6. mobile underpan according to claim 5, it is characterised in that: solid on the side plate and lower cross arm suspension
Surely it is connected with damper fixed block, the both ends of damper are hinged with damper fixed block.
7. mobile underpan according to claim 6, it is characterised in that: the hub motor includes wheel hub and driving
Motor, driving motor are DC Brushless Motor, induction machine, one in brushless, permanently excited direct current motor or switched reluctance machines
Kind.
8. mobile underpan according to claim 7, it is characterised in that: wheel includes tire, and tire wraps up wheel hub,
Outer surface of tire is carved with decorative pattern.
9. mobile underpan according to claim 8, it is characterised in that: be fixedly connected with wheel hub on wheel hub and fix
First connection ring of block, Top Crossbeam suspension and lower cross arm suspension is hinged with wheel hub fixed block.
10. according to the described in any item mobile underpans of claim 3-9, it is characterised in that: the Top Crossbeam suspension
A fixed arm is provided between first arm and the second arm, the both ends of fixed arm are fixedly connected with the first arm and the second arm respectively；
Be provided with two fixed arms between the first arm and the second arm of lower cross arm suspension, the both ends of fixed arm respectively with the first arm and second
Arm is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646731.6A CN110341793A (en) | 2019-07-17 | 2019-07-17 | Mobile underpan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646731.6A CN110341793A (en) | 2019-07-17 | 2019-07-17 | Mobile underpan |
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| Publication Number | Publication Date |
|---|---|
| CN110341793A true CN110341793A (en) | 2019-10-18 |
Family
ID=68175604
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| CN201910646731.6A Pending CN110341793A (en) | 2019-07-17 | 2019-07-17 | Mobile underpan |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216137A (en) * | 2020-03-21 | 2020-06-02 | 成都智创利源科技有限公司 | Servo driving system and control method for transfer robot |
| CN111290404A (en) * | 2020-03-25 | 2020-06-16 | 成都智创利源科技有限公司 | Intelligent carrying robot based on switched reluctance motor and control method |
| CN111645481A (en) * | 2020-06-18 | 2020-09-11 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN111673763A (en) * | 2020-06-18 | 2020-09-18 | 北京深醒科技有限公司 | Patrol robot suitable for rugged topography |
| WO2021121245A1 (en) * | 2019-12-16 | 2021-06-24 | 晋州风吹柳机械科技有限责任公司 | Anti-skidding pneumatic retractable tire |
| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
| WO2021175042A1 (en) * | 2020-03-02 | 2021-09-10 | 大陆智源科技（北京）有限公司 | Suspension device, suspension damping device and six-wheel bionic chassis |
| CN114537066A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot |
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| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
| WO2021175042A1 (en) * | 2020-03-02 | 2021-09-10 | 大陆智源科技（北京）有限公司 | Suspension device, suspension damping device and six-wheel bionic chassis |
| US11780282B2 (en) | 2020-03-02 | 2023-10-10 | Dalu Robotech, Technology(Beijing) Co., Ltd. | Suspension assembly, suspension damping device and six wheels bionic chassis |
| CN111216137A (en) * | 2020-03-21 | 2020-06-02 | 成都智创利源科技有限公司 | Servo driving system and control method for transfer robot |
| CN111290404A (en) * | 2020-03-25 | 2020-06-16 | 成都智创利源科技有限公司 | Intelligent carrying robot based on switched reluctance motor and control method |
| CN111645481A (en) * | 2020-06-18 | 2020-09-11 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN111673763A (en) * | 2020-06-18 | 2020-09-18 | 北京深醒科技有限公司 | Patrol robot suitable for rugged topography |
| CN111645481B (en) * | 2020-06-18 | 2022-01-28 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN114537066A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot |
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