CN110450884A - A kind of AGV trolley - Google Patents
A kind of AGV trolley Download PDFInfo
- Publication number
- CN110450884A CN110450884A CN201910707581.5A CN201910707581A CN110450884A CN 110450884 A CN110450884 A CN 110450884A CN 201910707581 A CN201910707581 A CN 201910707581A CN 110450884 A CN110450884 A CN 110450884A
- Authority
- CN
- China
- Prior art keywords
- mounting rack
- unit
- support base
- ball bearing
- guiding groove
- 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.)
- Granted
Links
- 239000000725 suspension Substances 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011176 pooling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of AGV trolleies, AGV trolley is equipped with bottom plate, auxiliary wheel and driving device, the auxiliary wheel and driving device are all mounted on bottom plate, the driving device includes suspension parts, servo motor and driving wheel, the servo motor and driving wheel are all mounted on suspension parts, and suspension parts include mounting rack, support base, Buffer Unit, and the support base is mounted on mounting rack in sliding manner, the mounting rack is fixed on bottom plate, and the Buffer Unit is fixed on mounting rack.Mentality of designing of the suspension parts of the driving device of AGV trolley based on bearing requirements, driving device, which obtains, has the characteristics that load-carrying members, support force directly can be provided to vehicle after use, and then obtain bigger lower pressure for driving wheel, thus solve the problems, such as that driving wheel skids.
Description
Technical field
The present invention relates to the driving devices on AGV trolley.
Background technique
AGV trolley magnetically or optically waits homing guidances device equipped with electricity, can travel, have along defined guide path
The means of transport of safeguard protection and various transfer functions has been widely used in modern industry field.What AGV trolley can move
Structure basis is it with complete drive system, and drive system includes bottom plate, auxiliary wheel, driving device.The bottom of bottom plate
If there are four auxiliary wheels, driving that auxiliary wheel is unpowered, each auxiliary wheel can be freely rotated, direction is unrestricted.Driving device
Including suspension parts, servo motor, driving wheel, suspension parts include support base, swing arm, bracket.Bracket is fixedly mounted on bottom plate
On, on one end removable mounting brackets of swing arm, swing arm can swing i.e. swing arm relative to bracket in vertical plane can be relative to
Bottom plate does pendulum motion.Servo motor and driving wheel are mounted on support base, and servo motor can drive driving wheel to rotate and rotate
Direction can change, velocity of rotation is adjustable.Support base is fixed on the other end of swing arm.Driving dress there are two being set on bottom plate
It sets, two sides of AGV trolley and controlled titled with "left", "right" marker character is respectively set, and the driving wheel in two driving devices is same
When speed operation, AGV trolley can carry out forward motion and backward movement, when the driving wheel differential operation in two driving devices
When, AGV trolley can carry out turn left movement, movement of turning right, original place rotation movement.Therefore, driving device not only provides power also
It is to execute to change nyctitropic component.
In the prior art, the function that the swing arm in driving device and bracket are contributed is buffer function, and swing arm is driven when swinging
Driving wheel can make the movement of up and down motion immediately naturally, this can show buffering well when driving wheel breaks the barriers and make
With the buffer function can bring the whole stable technical effect of holding for entire AGV trolley.
Driving device contribution played in the bearing function of AGV trolley is very small.
The load-bearing of AGV trolley has benefited from the supporting role of auxiliary wheel offer.Driving device does not simultaneously have performance AGV trolley
The structure of carrying effect, establishes the required lower pressure of frictional connection entirely from driving device between driving device and ground
The gravity of itself rather than the gravity of the gravity of other components and cargo on AGV trolley.Lower pressure is bigger, drives for improving
Wheel more has with the frictional connection degree that can be established on ground promotes influence, that is, descends that pressure is bigger, getable frictional force is bigger,
And lower pressure here is typically from gravity.No matter other components on AGV trolley in addition to driving device have multiple, AGV
The cargo of trolley carrying has multiple, can not all change the frictional force between driving device and ground.So in the prior art, driving
The driving wheel of device is easy to generate slipping phenomenon with ground, when especially AGV trolley is loaded with weight.In addition, breaking the barriers
It is blocked between Shi Ruguo swing arm and bracket, then will appear the hanging situation of driving wheel, and then AGV trolley is caused to deflect or stop
Movement.
Summary of the invention
The technical problem to be solved by the present invention is to how avoid driving wheel and ground from skidding, a kind of AGV trolley is thus obtained.
In order to solve the above technical problems, the present invention adopts the following technical scheme: AGV trolley is equipped with bottom plate, auxiliary wheel and drive
Dynamic device, the auxiliary wheel and driving device are all mounted on bottom plate, the driving device include suspension parts, servo motor and
Driving wheel, the servo motor and driving wheel are all mounted on suspension parts, and suspension parts include mounting rack, support base, buffering
Component, the support base are mounted on mounting rack in sliding manner, and the mounting rack is fixed on bottom plate, and the Buffer Unit is solid
It is scheduled on mounting rack, is set on the mounting rack there are two pilot unit, two pilot units are symmetrical on mounting rack, arbitrarily
One pilot unit all includes the first guiding groove and the second guiding groove, and the direction of first guiding groove is perpendicular to the second guiding groove
Direction, the first guiding groove of one of pilot unit and the first guiding groove face of another pilot unit and two guiding
The direction of first guiding groove of unit on the contrary, the second guiding groove of two pilot units towards parallel and identical, the support
It is set on seat there are two being led unit, two to be led unit symmetrical on support base, any one is led unit all and include the
One ball bearing and the second ball bearing, the axial line of first ball bearing perpendicular to the second ball bearing axial line,
One of them by the extending direction of the axial line for the first ball bearing for leading unit and another by the first ball axis for leading unit
The extending direction of the axial line held is opposite and two axial lines by the first ball bearing for leading unit are overlapped, and two are led unit
The second ball bearing axial line extending direction it is parallel and identical, first ball bearing is embedded in the first guiding groove
Interior, second ball bearing is embedded in the second guiding groove, and the support base is located between two pilot units, the buffering
Component includes spring, and one end of the spring and the intermediate position of support base connect, and the other end and mounting rack of the spring connect
It connects, the support base is equipped with loading position, and the loading position is located at two and is led between unit, the servo motor and drive
Driving wheel is mounted on loading position.
Servo motor, driving wheel are mounted on the loading position of support base.Due to the suspension parts tool in the technical program
Have a load-bearing capacity, thus using when directly mounting rack can be fixed on the bottom plate of AGV trolley, in this way, driving wheel and auxiliary wheel one
Sample carries weight bearing task.Mounting rack pressure passes to support base by Buffer Unit, is ultimately applied on driving wheel, institute
To provide precompression as driving wheel by the suspension parts, and the precompression increases as load-carrying increases.Even if in sky
In the case of load, the contiguity of driving wheel and ground foundation is still far longer than suspension parts institute of the prior art based on swing arm structure
The contiguity that can be provided.
Unit is led to be arranged based on ball bearing, ball bearing can rotate in guiding groove, avoid led unit with
There is a situation where sliding frictions at guiding groove for mounting rack, are conducive to support base and freely move in a straight line on mounting rack.It is real
In the work of border, support base does the straight reciprocating motion on vertical direction on mounting rack.When driving wheel encounters barrier, only exist
The side of driving wheel is by inclined active force.Direction of motion phase of the direction of such active force with support base on mounting rack
It hands over, has the fit clearance for the fit clearance and ball bearing and guiding groove that ball bearing itself is rotatable and it is internal just
It may be implemented to respond at first near the unit of being led of preceding (being with reference to basis with AGV trolley direction of advance), then support base is another
One is led unit follow-up.Being led unit can not only guarantee that support base slides certainly on mounting rack based on ball bearing setting
Such as, it can also be ensured that support base avoids support base and mounting rack card in the response that can take advantage of a situation after by the active force on non-vertical direction
Firmly the case where.
Also spring is arranged in specific position, that is, bullet in the technical scheme for the case where blocking for support base and mounting rack
The other end of one end of spring and the connection of the intermediate position of support base, spring is connect with mounting rack, guarantee support base by spring
Active force position be always positioned at support base centre rather than the both ends of support base, also or deviate support base middle part
Other positions of position.
Pilot unit and by guide structure that unit forms is led and Buffer Unit is functionally independent, i.e., guide structure is only born
It blames guide function, Buffer Unit and is only responsible for pooling feature.Functional independence and structure independence are conducive to simplify structure, improve suspension
The stability of component operation.
The fit clearance of ball bearing itself is rotatable and it is internal fit clearance and ball bearing and guiding groove
Structure feature can play a positive role in the initial stage of response barrier, but then be needed in spring by compressed buffer stage
Inhibit the micro shaking of structure feature bring.For this purpose, Buffer Unit further includes guide post, sliding sleeve, connection frame, the guide post is solid
On support base, the guide post is equipped with inner cavity for Dingan County, and one end of the spring is protruded into the inner cavity of guide post, and the sliding sleeve is solid
It is scheduled on mounting rack, the guide post is slidably connected with sliding sleeve, and the connection frame is fixed on mounting rack, the other end of the spring
It is connect with mounting rack.Buffer stage, guide post are embedded into the sharp increase of the amount in sliding sleeve, and guide post is got over by the restriction effect from sliding sleeve
It is more, inhibit micro shaking with the mutually embedding amount of sliding sleeve from there through guide post.
In order to guarantee stress balance after suspension parts are mounted on bottom plate, the two sides of the mounting rack are equipped with connecting pin.Peace
Connecting pin is fixedly connected with bottom plate when dress.
The present invention is by adopting the above technical scheme: design of the suspension parts of the driving device of AGV trolley based on bearing requirements
Thinking, driving device, which obtains, has the characteristics that load-carrying members, directly can provide support force to vehicle after use, and then to drive
Driving wheel obtains bigger lower pressure, thus solves the problems, such as that driving wheel skids.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
Fig. 1 is a kind of assembling schematic diagram of the suspension parts of the driving device of AGV trolley of the present invention；
Fig. 2 is a kind of structural schematic diagram of the suspension parts of the driving device of AGV trolley of the present invention；
Fig. 3 is a kind of structural schematic diagram of the driving device of AGV trolley of the present invention.
Specific embodiment
The drive system of AGV trolley includes bottom plate, auxiliary wheel, driving device.The bottom of bottom plate is set there are four auxiliary wheel, auxiliary
The unpowered driving of wheel is helped, each auxiliary wheel can be freely rotated, direction is unrestricted.The two sides of bottom plate are respectively provided with a driving dress
It sets, as shown in figure 3, each driving device includes suspension parts, servo motor 1, driving wheel 2.Servo motor 1 and driving wheel 2 are pacified
On suspension parts, servo motor 1 drives driving wheel 2 to rotate after being powered.As shown in Figure 1, 2, suspension parts include mounting rack
3, support base 4, Buffer Unit.
Whole mounting rack 3 is in n shape, is formed by three straight part combinations, and the straight position of two sides is all perpendicular to centre
Straight position.The two sides of mounting rack 3 are designed with pilot unit, which is straight groove structure, two pilot units
It is symmetrical on mounting rack 3.Each pilot unit includes the first guiding groove 5 and the second guiding groove 6, the first guide recess
Take up space and cross section that the second guide recess is taken up space all is in rectangle；The opening of first guiding groove 5 towards perpendicular to
The opening direction of second guiding groove 6；Between two pilot units, the first guiding groove 5 of one of pilot unit with it is another
First guiding groove 5 of positional relationship, two pilot units between the first guiding groove 5 of a pilot unit in opposite face
Towards on the contrary, the second guiding groove 6 of two pilot units towards parallel and identical.One is respectively provided in 3 two sides of mounting rack
Connecting pin 7, two 7 structures of connecting pin are identical, they are symmetrical on mounting rack 3, and the connecting pin 7 with bottom plate for connecting.
Support base 4 is mounted in sliding manner on mounting rack 3.One, which is distributed with, in the two sides of support base 4 is led unit,
Two to be led unit symmetrical on support base 4.Each being led unit includes the first ball bearing 8 and the second ball bearing
9, no matter the first ball bearing 8 or the second ball bearing 9, its own can be rotated freely after stress；First ball bearing 8
Axial line perpendicular to the second ball bearing 9 axial line；Two are led between unit, one of them is by the first rolling for leading unit
The extending direction of the axial line of pearl bearing 8 is with another by the extending direction phase of the axial line for the first ball bearing 8 for leading unit
Anti- and two axial lines by the first ball bearing 8 for leading unit are overlapped, two axle center by the second ball bearing 9 for leading unit
The extending direction of line is parallel and identical.When installation, the first ball bearing 8 is embedded in the first guiding groove 5, the second ball bearing 9
It is embedded in the second guiding groove 6, support base 4 is located between two pilot units, thus establishes between support base 4 and mounting rack 3
Flexible connection relationship.Support base 4 can do straight reciprocating motion on mounting rack 3.The intermediate position of support base 4 is equipped with convenient for peace
The through-hole for filling servo motor 1 and driving wheel 2, is herein the loading position 10 of support base 4, and loading position 10 is located at two and is led list
Between member.
Buffer Unit includes guide post 11, sliding sleeve 12, spring 13, connection frame 14.Whole connection frame 14 is also in n shape, by three
Straight part combination forms, and the straight position of two sides is all perpendicular to intermediate straight position.Connection frame 14 is fixed on mounting rack 3
On.Sliding sleeve 12 is fixed on the intermediate position on mounting rack 3 and being located at mounting rack 3, and guide post 11 is mounted on support base 4 and without language branch
Support the intermediate position of seat 4.The inner cavity of blind hole structure is equipped with inside guide post 11, inner cavity is cylindrical, its only one opening；It is interior
The center line of chamber is overlapped with the center line of guide post 11.One end of spring 13 extend into the inner cavity of guide post 11, spring 13 it is another
End is located at outside guide post 11.When installation, guide post 11 is extend into sliding sleeve 12, and the other end of spring 13 is contacted and squeezed with connection frame 14
It presses connection frame 14 and establishes a connection.In order to more preferably connect, it is equipped with bolt at the intermediate position on connection frame 14, the bolt
It protrudes into spring 13.Guide post 11 can slide in sliding sleeve 12, and the glide direction and support base 4 of guide post 11 are on mounting rack 3
The direction of motion it is parallel.
When assembling, servo motor 1 and driving wheel 2 are mounted on the loading position 10 of support base 4, the connecting pin 7 of mounting rack 3
It is fixed on bottom plate.The load-carrying of vehicle is assigned in driving device by bottom plate, is finally acted on lower driving wheel 2, driving wheel 2 by
Lower pressure and it is even closer with ground face contact.So the suspension parts can be with load-bearing, and driving wheel 2 and ground are improved by load-bearing
Exposure level.Buffer Unit is flexible to can permit the linear slide on mounting rack 3 of support base 4, thus meets to cope with driving wheel 2
To various road surfaces on barrier.
Claims (3)
1. a kind of AGV trolley, the AGV trolley is equipped with bottom plate, auxiliary wheel and driving device, and the auxiliary wheel and driving device are all
It is mounted on bottom plate, the driving device includes suspension parts, servo motor (1) and driving wheel (2), the servo motor (1)
All be mounted on suspension parts with driving wheel (2), it is characterised in that: the suspension parts include mounting rack (3), support base (4),
Buffer Unit, the support base (4) are mounted in sliding manner on mounting rack (3), and the mounting rack (3) is fixed on bottom plate,
The Buffer Unit is fixed on mounting rack (3), is set on the mounting rack (3) there are two pilot unit, two pilot units exist
Symmetrical on mounting rack (3), any one pilot unit all includes the first guiding groove (5) and the second guiding groove (6), and described
One guiding groove (5) direction perpendicular to the second guiding groove (6) direction, the first guiding groove (5) of one of pilot unit with
The direction of the first guiding groove (5) of the first guiding groove (5) face of another pilot unit and two pilot units is on the contrary, two
The second guiding groove (6) of pilot unit towards parallel and identical, set on the support base (4) there are two being led unit, two
It is symmetrical on support base (4) to be led unit, it includes the first ball bearing (8) and the second ball that any one, which is led unit all,
Bearing (9), perpendicular to the axial line of the second ball bearing (9), one of them is led the axial line of first ball bearing (8)
The extending direction of the axial line of the first ball bearing (8) of unit and another by the first ball bearing (8) for leading unit axis
The extending direction of heart line is opposite and two axial lines by the first ball bearing (8) for leading unit are overlapped, and two by leading unit
The extending direction of the axial line of second ball bearing (9) is parallel and identical, and first ball bearing (8) is embedded in the first guidance
In slot (5), second ball bearing (9) is embedded in the second guiding groove (6), and it is single that the support base (4) is located at two guiding
Between member, the Buffer Unit includes spring (13), and one end of the spring (13) and the intermediate position of support base (4) connect,
The other end of the spring (13) is connect with mounting rack (3), and the support base (4) is equipped with loading position (10), the loading
Position (10) is located at two and is led between unit, and the servo motor (1) and driving wheel (2) are mounted on loading position (10).
2. AGV trolley according to claim 1, it is characterised in that: the Buffer Unit further includes guide post (11), sliding sleeve
(12), connection frame (14), the guide post (11) are fixedly mounted on support base (4), and the guide post (11) is equipped with inner cavity, the bullet
One end of spring (13) is protruded into the inner cavity in guide post (11), and the sliding sleeve (12) is fixed on mounting rack (3), the guide post (11)
It is slidably connected with sliding sleeve (12), the connection frame (14) is fixed on mounting rack (3), the other end of the spring (13) and installation
Frame (3) connection.
3. AGV trolley according to claim 1, it is characterised in that: the two sides of the mounting rack (3) are equipped with connecting pin (7), institute
Connecting pin (7) is stated to connect with bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707581.5A CN110450884B (en) | 2019-08-01 | 2019-08-01 | AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707581.5A CN110450884B (en) | 2019-08-01 | 2019-08-01 | AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450884A true CN110450884A (en) | 2019-11-15 |
| CN110450884B CN110450884B (en) | 2024-07-19 |
Family
ID=68484610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910707581.5A Active CN110450884B (en) | 2019-08-01 | 2019-08-01 | AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450884B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114204897A (en) * | 2021-11-23 | 2022-03-18 | 优兔创新有限公司 | Cleaning robot capable of automatically crossing obstacle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672704U (en) * | 1993-11-17 | 1994-10-11 | 三菱製鋼株式会社 | Height change mechanism for vehicles equipped with air spring suspension |
| JPH1173223A (en) * | 1997-08-29 | 1999-03-16 | Yazaki Kako Kk | Guided truck |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN108583735A (en) * | 2018-07-04 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolleies, chassis, AGV trolleies |
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN208101615U (en) * | 2017-12-29 | 2018-11-16 | 合肥中导机器人科技有限公司 | A kind of AGV driving wheel double-spring damping device and AGV trolley |
| KR20190033681A (en) * | 2017-09-21 | 2019-04-01 | (주)씨에이시스템 | Automated Guided Vehicle having Stand-alone type Wheel Drive Unit for Lateral Movement |
| CN210942033U (en) * | 2019-08-01 | 2020-07-07 | 杭州中亚机械股份有限公司 | AGV dolly |
-
2019
- 2019-08-01 CN CN201910707581.5A patent/CN110450884B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672704U (en) * | 1993-11-17 | 1994-10-11 | 三菱製鋼株式会社 | Height change mechanism for vehicles equipped with air spring suspension |
| JPH1173223A (en) * | 1997-08-29 | 1999-03-16 | Yazaki Kako Kk | Guided truck |
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| KR20190033681A (en) * | 2017-09-21 | 2019-04-01 | (주)씨에이시스템 | Automated Guided Vehicle having Stand-alone type Wheel Drive Unit for Lateral Movement |
| CN208101615U (en) * | 2017-12-29 | 2018-11-16 | 合肥中导机器人科技有限公司 | A kind of AGV driving wheel double-spring damping device and AGV trolley |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN108583735A (en) * | 2018-07-04 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolleies, chassis, AGV trolleies |
| CN210942033U (en) * | 2019-08-01 | 2020-07-07 | 杭州中亚机械股份有限公司 | AGV dolly |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114204897A (en) * | 2021-11-23 | 2022-03-18 | 优兔创新有限公司 | Cleaning robot capable of automatically crossing obstacle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450884B (en) | 2024-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109501880B (en) | Single-wheel biped walking robot | |
| US20110148052A1 (en) | Mechanical device for tilt control | |
| JP6842569B2 (en) | Suspension unit for magnetic levitation vehicle | |
| WO2020151537A1 (en) | Robot chassis and robot | |
| CN106427446A (en) | Robot vehicle body suspension system | |
| CN106183681A (en) | Omni-directional moving platform with damping device | |
| CN206086260U (en) | Prevent unsettled removal food delivery robot chassis suspension of drive wheel | |
| CN211223022U (en) | Steering wheel suspension mechanism | |
| CN103364207A (en) | Multifunctional chassis test bed | |
| CN110450884A (en) | A kind of AGV trolley | |
| CN112319170A (en) | Independent suspension device capable of keeping specific wheel track | |
| CN112693272A (en) | Parallel adaptive dependent suspension Mecanum wheel chassis system | |
| CN107810118B (en) | Independent wheel suspension | |
| CN107571933B (en) | Suspension system applied to quadruped robot | |
| CN109532366A (en) | A kind of robot chassis suspension and robot | |
| CN202511977U (en) | Multifunctional chassis test bed | |
| CN110450883A (en) | A kind of suspension parts | |
| CN207257826U (en) | A kind of suspension driving device of heavy duty two-wheeled differential mechanism people's universal chassis | |
| CN110450885A (en) | A kind of driving device | |
| JP6844001B2 (en) | Drive wheel support for industrial vehicles and industrial vehicles | |
| CN210942033U (en) | AGV dolly | |
| CN208181251U (en) | Robot chassis and automated guided vehicle | |
| CN207808959U (en) | A kind of installing mechanism | |
| CN105015638A (en) | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm | |
| CN210942032U (en) | Driving device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |