CN110406340A - Mobile chassis and robot - Google Patents
Mobile chassis and robot Download PDFInfo
- Publication number
- CN110406340A CN110406340A CN201910670802.6A CN201910670802A CN110406340A CN 110406340 A CN110406340 A CN 110406340A CN 201910670802 A CN201910670802 A CN 201910670802A CN 110406340 A CN110406340 A CN 110406340A
- Authority
- CN
- China
- Prior art keywords
- driving
- swing rod
- mobile chassis
- damper
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Abstract
This application discloses a kind of mobile chassis and robots.The mobile chassis includes shell and at least two driving units；Each driving unit includes swing rod, damper, driving mechanism and driving wheel at least two driving units；The upper end of damper is hinged on shell, and the lower end of damper is hinged on the first end of swing rod, and driving mechanism is fixed on the first end of swing rod, and the wheel axis connection that the output end of driving mechanism and driving wheel include, the second end of swing rod are hinged on shell；The setting triangular in shape of the upper end of the first end of swing rod, second end and damper.The application solves the poor technical problem of the two-way traveling performance of mobile chassis in the related technology.
Description
Technical field
This application involves field of mechanical technique, in particular to a kind of mobile chassis and robot.
Background technique
The existing many driving wheels of mobile underpan are mobile without the robot of the structure of suspension without suspended structure
Chassis is cut excessively, will be far short of what is expected in terms of obstacle climbing ability, and the mobile underpan with suspended structure mostly uses in the related technology
Tension spring suspended structure, climbing when tension spring suspended structure has positive walking and reversed walking, cross cut, obstacle climbing ability it is widely different,
The climbing of forward direction, mistake is cut, obstacle climbing ability is better than reversely, to reduce the performance of the two-way traveling of mobile underpan.
For the problem that the two-way traveling performance of mobile chassis in the related technology is poor, effective solution side is not yet proposed at present
Case.
Summary of the invention
The main purpose of the application is to provide a kind of mobile chassis and robot, to solve mobile chassis in the related technology
The poor problem of two-way traveling performance.
To achieve the goals above, in a first aspect, this application provides a kind of mobile chassis.
Mobile chassis according to the application includes: shell and at least two driving units；
Each driving unit includes swing rod, damper, driving mechanism and driving wheel at least two driving units；Damping
The upper end of device is hinged on shell, and the lower end of damper is hinged on the first end of swing rod, and driving mechanism is fixed on the first of swing rod
End, and the wheel axis connection that the output end of driving mechanism and driving wheel include, the second end of swing rod are hinged on shell；Wherein, it puts
The setting triangular in shape of the upper end of the first end of bar, second end and damper.
Optionally, driving mechanism includes retarder and servo motor；
Servo motor and retarder are separately fixed at the two sides of swing rod first end, and the output shaft that servo motor includes passes through pendulum
The input axis connection of bar and retarder, driving wheel are mounted on retarder, the wheel shaft that the output shaft and driving wheel of retarder include
Connection.
Optionally, driving unit further includes adjustable plate；
Multiple installation points are equipped on shell along the vertical direction, adjustable plate is fixed on an installation point in multiple installation points
On, the upper end of damper is hinged on adjustable plate.
Optionally, shell is equipped with the attachment rail of corresponding each driving unit, and attachment rail is arranged along the vertical direction；It adjusts
Section plate is fixed on attachment rail.
Optionally, shell is equipped at least two mounting grooves, and each driving unit is corresponding extremely at least two driving units
A mounting groove in few two mounting grooves, swing rod, damper and the driving mechanism that each driving unit includes are arranged at peace
In tankage.
Optionally, there are two driving unit settings；
Two driving units are symmetricly set on the two sides of shell.
Optionally, driving unit further includes bearing block, bearing and shaft；
Bearing block is fixed on the lower end of shell, and bearing is mounted on bearing block, and bearing holder (housing, cover) is mounted in the first end of shaft, pendulum
The second end of bar and the second end of shaft connect；The axis of shaft and the axis of driving wheel are parallel.
Optionally, driving unit further includes positioning pin, and one end of positioning pin is plugged on bearing block, the other end of positioning pin
It is plugged on the lower end of shell.
Optionally, damper is spring damper.
Second aspect, the application also provide a kind of robot, including above-mentioned mobile chassis.
In the embodiment of the present application, a kind of mobile chassis is provided, setting: shell and at least two driving units is passed through；Extremely
Each driving unit includes swing rod, damper, driving mechanism and driving wheel in few two driving units；It cuts with scissors the upper end of damper
It connects on shell, the lower end of damper is hinged on the first end of swing rod, and driving mechanism is fixed on the first end of swing rod, and driving machine
The wheel axis connection that the output end and driving wheel of structure include, the second end of swing rod are hinged on shell；First end, the second end of swing rod
And the upper end setting triangular in shape of damper.Wherein, swing rod is indirectly coupled to by the setting of swing rod and driving wheel
First end, driving wheel can be swung up and down as the first end of swing rod is fan-shaped, in this way, driving of the driving wheel in driving mechanism
Under, no matter over there upper walking, when encountering ditch or ramp, under the action of swing rod driving wheel can upwards and
Downward movement, to help driving wheel contact ditch or ramp, and the damper first being located above driving wheel can play
The effect of damping, meanwhile, damper can give driving wheel one pressure always by swing rod and driving mechanism, to ensure this shifting
Dynamic chassis can be always maintained at driving wheel when crossing ditch or ramp to the road holding on ground, reduce driving wheel in the trench
The risk of skidding, it is thereby achieved that improving the purpose of mobile chassis bidirectional walking performance.To solve to move bottom in the related technology
The poor problem of the two-way traveling performance of disk.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is according to a kind of structural schematic diagram of mobile chassis provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram at another visual angle of mobile chassis in Fig. 1.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being slidably connected ", " fixation ", " clamping ", " suit "
It shall be understood in a broad sense.For example, " connection " may be a fixed connection, it is detachably connected or monolithic construction；It can be mechanical connect
It connects, or electrical connection；Can be directly connected, or indirectly connected through an intermediary, or be two devices, element or
Internal connection between component part.For those of ordinary skills, above-mentioned art can be understood as the case may be
The concrete meaning of language in this application.
In addition, the meaning of term " multiple " should be two and two or more.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As depicted in figs. 1 and 2, the invention relates to a kind of mobile chassis, which includes: shell 1 and extremely
Few two driving units 2；
Each driving unit 2 includes swing rod 21, damper 22, driving mechanism 23 and drives at least two driving units 2
Driving wheel 24；The upper end of damper 22 is hinged on shell 1, and the lower end of damper 22 is hinged on the first end of swing rod 21, driving machine
Structure 23 is fixed on the first end of swing rod 21, and the wheel axis connection that the output end of driving mechanism 23 and driving wheel 24 include, swing rod 21
Second end be hinged on shell 1；Wherein, the first end, second end of swing rod 21 and the upper end of damper 22 are triangular in shape
Setting.
Specifically, being indirectly coupled to the first end of swing rod 21, driving wheel 24 by the setting and driving wheel 24 of swing rod 21
Can be swung up and down as the first end of swing rod 21 is fan-shaped, in this way, driving wheel 24 is under the driving of driving mechanism 23, no matter
It walks on that direction, when encountering ditch or ramp, driving wheel 24 can be up and down under the action of swing rod 21
Movement, to help driving wheel 24 to contact ditch or ramp, and the damper 22 first for being located at 24 top of driving wheel can rise
To the effect of damping, meanwhile, damper 22 can give driving wheel 24 1 pressure always by swing rod 21 and driving mechanism 23,
Driving wheel 24 can be always maintained to the road holding on ground to ensure this mobile chassis when crossing ditch or ramp, reduce drive
The risk that driving wheel 24 skids in the trench, it is thereby achieved that improving the purpose of mobile chassis bidirectional walking performance.
Optionally, which further includes at least one universal wheel 3；Each universal wheel 3 is equal at least one universal wheel 3
It is mounted on 1 lower end of shell.In this way, the hub motor for including by driving unit 2 provides driving force for mobile chassis, and universal wheel
3 can play the role of carrying out Auxiliary support to the shell 1 of mobile chassis.It should be noted that universal wheel 3 can be set 1,2,
3,4,5,6 ... those skilled in the art can bear a heavy burden according to mobile chassis and the actual conditions such as traveling need specific setting ten thousand
To the quantity of wheel 3.For example, 4 universal wheels 3 can be set when including two driving units 2.
Optionally, driving mechanism 23 includes retarder 231 and servo motor 232；
Servo motor 232 and retarder 231 are separately fixed at the two sides of 21 first end of swing rod, and servo motor 232 includes
Output shaft passes through the input axis connection of swing rod 21 and retarder 231, and driving wheel 24 is mounted on retarder 231, retarder 231
The wheel axis connection that output shaft and driving wheel 24 include.
Specifically, servo motor 232 can provide input torque for retarder 231, later, retarder 231 is to driving wheel
24 one bigger torque of output, in this way, the load of this mobile chassis can be effectively improved, so that this mobile chassis is negative in height
In the case where load, it may have preferably traveling ability.
Optionally, driving unit 2 further includes adjustable plate 25；
Multiple installation points are equipped on shell 1 along the vertical direction, adjustable plate 25 is fixed on an installation in multiple installation points
On point, the upper end of damper 22 is hinged on adjustable plate 25.
Specifically, the upper end of damper 22 is connected on adjustable plate 25 by being arranged adjustable plate 25 on shell 1,
The main function of adjustable plate 25 is exactly the initial position that damper 22 is adjusted according to the load on chassis.Optionally, damper
22 can be spring damper 22.When the zero load of this mobile chassis, the position which is connected to installation point can compare
It is top, in this way, the initial compression amount of 22 inner spring of damper is smaller, this mobile chassis is placed on the ground, to guarantee to drive
Wheel 24 and universal wheel 3 are with ground face contact, and when the load of this mobile chassis is larger, the position that adjustable plate 25 is connected to installation point is needed
It to adjust downwards, when being placed on ground together, the decrement of spring is larger for this mobile chassis and load, guarantees driving wheel 24 and universal
Wheel 3 is with ground face contact, and driving wheel 24 also accordingly will increase the road holding on ground at this time, and the purpose for increasing road holding is exactly to be
Avoid the case where causing very much driving wheel 24 and ground to skid greatly due to load when mobile chassis is walked.
Optionally, shell 1 is equipped with the attachment rail 11 of corresponding each driving unit 2, and attachment rail 11 is along the vertical direction
Setting；Adjustable plate 25 is fixed on attachment rail 11.
Specifically, attachment rail 11 can be made of two parallel guide grooves, adjustable plate 25 is by being connected to mounting rail
On road 11, convenient for 25 mounting height of adjustable plate is adjusted, to adjust the decrement of damper 22.
Optionally, shell 1 is equipped at least two mounting grooves 12, and each driving unit 2 is right at least two driving units 2
A mounting groove 12 at least two mounting grooves 12 is answered, swing rod 21, damper 22 and the driving machine that each driving unit 2 includes
Structure 23 (i.e. servo motor 232 and retarder 231) is arranged in mounting groove 12.Specifically, setting is right with each driving unit 2
The mounting groove 12 answered, and each driving unit 2 is set to corresponding mounting groove 12, this mobile chassis structure can be made more
It is compact.Optionally, there are two the settings of driving unit 2；Two driving units 2 are symmetricly set on the two sides of shell 1.In this way, two
Two driving mechanisms 23 and two driving wheels 24 for being driven the driving of mechanism 23 that driving unit 2 respectively includes can be in shells
1 two sides are that shell 1 provides the driving force of traveling, and passing through two driving wheels 24 can be at any time to the traveling side of this mobile chassis
To being adjusted.
Optionally, driving unit 2 further includes bearing block 26, bearing and shaft 27；
Bearing block 26 is fixed on the lower end of shell 1, and bearing is mounted on bearing block 26, and bearing holder (housing, cover) is mounted in the of shaft 27
The second end of one end, swing rod 21 is connect with the second end of shaft 27；The axis of shaft 27 is parallel with the axis of driving wheel 24.
Specifically, swing rod 21 is by bearing block 26, bearing and shaft 27 to complete the second end of swing rod 21 on shell 1
Hingedly, wherein driving unit 2 further includes locking nut 28 and bearing cover 29, and the second end of shaft 27 passes through locking nut 28
It is socketed with bearing, bearing cover 29 blocks on bearing block 26, and bearing is fixed in bearing block 26.Optionally, driving is single
Member 2 further includes positioning pin, and one end of positioning pin is plugged on bearing block 26, and the other end of positioning pin is plugged on the lower end of shell 1.
In this way, being positioned by positioning pin to installation site of the bearing block 26 on shell 1 and direction.Wherein, bearing can be deep
Ditch ball bearing.
In the embodiment of the present application, a kind of mobile chassis is provided, setting: shell 1 and at least two driving units 2 is passed through；
Each driving unit 2 includes swing rod 21, damper 22, driving mechanism 23 and driving wheel 24 at least two driving units 2；Subtract
The upper end of shake device 22 is hinged on shell 1, and the lower end of damper 22 is hinged on the first end of swing rod 21, and driving mechanism 23 is fixed on
The first end of swing rod 21, and the wheel axis connection that the output end of driving mechanism 23 and driving wheel 24 include, the second end hinge of swing rod 21
It connects on shell 1；The setting triangular in shape of the upper end of the first end of swing rod 21, second end and damper 22.Wherein, pass through pendulum
The setting of bar 21 and driving wheel 24 are indirectly coupled to the first end of swing rod 21, and driving wheel 24 can be with the first end of swing rod 21
It is fan-shaped to swing up and down, in this way, driving wheel 24, under the driving of driving mechanism 23, no matter over there upper walking, is encountering
When ditch or ramp, under the action of swing rod 21 driving wheel 24 can movement up and down, to help driving wheel 24
Ditch or ramp are contacted, and the damper 22 first for being located at 24 top of driving wheel can play the role of damping, meanwhile, damping
Device 22 can give driving wheel 24 1 pressure always by swing rod 21 and driving mechanism 23, to ensure that this mobile chassis is being crossed
It can be always maintained at driving wheel 24 when ditch or ramp to the road holding on ground, reduce the wind that driving wheel 24 skids in the trench
Danger, it is thereby achieved that improving the purpose of mobile chassis bidirectional walking performance.To solve the two-way row of mobile chassis in the related technology
The problem poor into performance.
Based on the same technical idea, the embodiment of the present application also provides a kind of robot, including above-mentioned mobile chassis.
In robot provided by the embodiments of the present application, by above-mentioned mobile chassis, it is two-way that robot can be improved
The performance of traveling also can reduce the risk that robot skids in crossing groove.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of mobile chassis characterized by comprising shell and at least two driving units；
Each driving unit includes swing rod, damper, driving mechanism and driving wheel at least two driving unit；It is described
Hingedly on the housing, the lower end of the damper is hinged on the first end of the swing rod, the driving for the upper end of damper
Mechanism is fixed on the first end of the swing rod, and the wheel axis connection that the output end of the driving mechanism and the driving wheel include,
The second end of the swing rod is hingedly on the housing；Wherein, the first end, second end of the swing rod and the damper
Upper end setting triangular in shape.
2. mobile chassis according to claim 1, which is characterized in that the driving mechanism includes retarder and servo electricity
Machine；
The servo motor and the retarder are separately fixed at the two sides of the swing rod first end, and the servo motor includes
By the input axis connection of the swing rod and the retarder, the driving wheel is mounted on the retarder output shaft, described
The wheel axis connection that the output shaft of retarder and the driving wheel include.
3. mobile chassis according to claim 1, which is characterized in that the driving unit further includes adjustable plate；
Multiple installation points are equipped on the shell along the vertical direction, the adjustable plate is fixed on one in the multiple installation point
In installation point, the upper end of the damper is hinged on the adjustable plate.
4. mobile chassis according to claim 3, which is characterized in that it is single that the shell is equipped with corresponding each driving
The attachment rail of member, the attachment rail are arranged along the vertical direction；The adjustable plate is fixed on the attachment rail.
5. mobile chassis according to claim 1, which is characterized in that the shell is equipped at least two mounting grooves, institute
It states each driving unit at least two driving units and corresponds to a mounting groove at least two mounting groove, it is described each
The swing rod, the damper and the driving mechanism that driving unit includes are arranged in the mounting groove.
6. mobile chassis according to claim 5, which is characterized in that there are two the driving unit settings；
Two driving units are symmetricly set on the two sides of the shell.
7. mobile chassis according to claim 1, which is characterized in that the driving unit further include bearing block, bearing and
Shaft；
The bearing block is fixed on the lower end of the shell, and the bearing is mounted on the bearing block, and the bearing is set with
In the first end of the shaft, the second end of the swing rod is connect with the second end of the shaft；The axis of the shaft and institute
The axis for stating driving wheel is parallel.
8. mobile chassis according to claim 7, which is characterized in that the driving unit further includes positioning pin, described fixed
One end of position pin is plugged on the bearing block, and the other end of the positioning pin is plugged on the lower end of the shell.
9. mobile chassis according to claim 1, which is characterized in that the damper is spring damper.
10. a kind of robot, which is characterized in that the robot includes such as the described in any item mobile chassis of claim 1-9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019103455317 | 2019-04-26 | ||
| CN201910345531 | 2019-04-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110406340A true CN110406340A (en) | 2019-11-05 |
Family
ID=68362777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910670802.6A Pending CN110406340A (en) | 2019-04-26 | 2019-07-23 | Mobile chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110406340A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361380A (en) * | 2020-03-19 | 2020-07-03 | 广东博智林机器人有限公司 | Self-adaptive suspension system, driving system and mobile chassis |
| CN112550442A (en) * | 2020-12-15 | 2021-03-26 | 北京交通大学 | Chassis running gear and wheeled robot |
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|---|---|---|---|---|
| JP2000016337A (en) * | 1998-06-30 | 2000-01-18 | Suzuki Motor Corp | Rear suspension arrangement structure |
| CN202200797U (en) * | 2011-07-28 | 2012-04-25 | 绿友机械集团股份有限公司 | Frame for adjusting height of automobile body of small-sized electric automobile |
| US20160244094A1 (en) * | 2015-02-24 | 2016-08-25 | Ford Global Technologies, Llc | Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207670523U (en) * | 2017-11-16 | 2018-07-31 | 上海未来伙伴机器人有限公司 | A kind of Omni-mobile obstacle detouring chassis |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN208630286U (en) * | 2018-08-02 | 2019-03-22 | 什伯（上海）智能技术有限公司 | A kind of mobile robot chassis with suspension arrangement |
| CN210526227U (en) * | 2019-04-26 | 2020-05-15 | 北京云迹科技有限公司 | Mobile chassis and robot |
-
2019
- 2019-07-23 CN CN201910670802.6A patent/CN110406340A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000016337A (en) * | 1998-06-30 | 2000-01-18 | Suzuki Motor Corp | Rear suspension arrangement structure |
| CN202200797U (en) * | 2011-07-28 | 2012-04-25 | 绿友机械集团股份有限公司 | Frame for adjusting height of automobile body of small-sized electric automobile |
| US20160244094A1 (en) * | 2015-02-24 | 2016-08-25 | Ford Global Technologies, Llc | Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207670523U (en) * | 2017-11-16 | 2018-07-31 | 上海未来伙伴机器人有限公司 | A kind of Omni-mobile obstacle detouring chassis |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN208630286U (en) * | 2018-08-02 | 2019-03-22 | 什伯（上海）智能技术有限公司 | A kind of mobile robot chassis with suspension arrangement |
| CN210526227U (en) * | 2019-04-26 | 2020-05-15 | 北京云迹科技有限公司 | Mobile chassis and robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361380A (en) * | 2020-03-19 | 2020-07-03 | 广东博智林机器人有限公司 | Self-adaptive suspension system, driving system and mobile chassis |
| CN112550442A (en) * | 2020-12-15 | 2021-03-26 | 北京交通大学 | Chassis running gear and wheeled robot |
| CN112550442B (en) * | 2020-12-15 | 2022-05-27 | 北京交通大学 | Chassis running gear and wheeled robot |
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