CN110481306A - A kind of robot damping chassis flexibly turned to - Google Patents
A kind of robot damping chassis flexibly turned to Download PDFInfo
- Publication number
- CN110481306A CN110481306A CN201910836391.3A CN201910836391A CN110481306A CN 110481306 A CN110481306 A CN 110481306A CN 201910836391 A CN201910836391 A CN 201910836391A CN 110481306 A CN110481306 A CN 110481306A
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- CN
- China
- Prior art keywords
- driven wheel
- groups
- driven
- group
- motor
- Prior art date
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- Pending
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- 238000013016 damping Methods 0.000 title claims abstract description 29
- 239000006096 absorbing agent Substances 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 24
- 238000009434 installation Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
- B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
-
- 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
-
- 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
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- 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
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
Abstract
The invention discloses a kind of robot damping chassis flexibly turned to, belong to robotic technology field.It includes driving wheel group, driven wheel group, bottom plate, cap ned, driven gear, drive gear set, top plate etc..Two groups of driving wheel groups are symmetrically arranged on bottom rear two sides, two groups of driven wheel groups are symmetrically arranged on top plate two sides and are located at pan front two sides, it is connected between top plate and bottom plate by cap ned, drive gear set is mounted on pan front and cooperates with the driven gear being installed in driven wheel group.Chassis rear portion driving wheel group is moved forward and backward robot as the power of robot in the moving process of chassis, and chassis top front idler wheel group and drive gear set collective effect flexibly turn to robot can in moving process；Being equipped with damper at driving wheel group and driven wheel group makes robot have good terrain trafficability.The present invention has many advantages, such as that strong flexibility, passability be good, convenient for disassembly and assembly, reliable performance.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of robot damping chassis flexibly turned to.
Background technique
With the rapid development of artificial intelligence technology, mobile robot is popularized in numerous areas.
Mobile robot shock-damping structure is varied at present, and damping effect caused by different shock-damping structures is different, existing
Have some shock-damping structures design Shortcomings cause robot exist when moving when driving stability is insufficient, obstacle performance is poor,
The disadvantages of insufficient by grip performance when out-of-flatness ground.Nowadays most of chassis turn to by the way of differential steering, and
It carries out turning to that its turning radius is big in this way, limits the mobile flexibility of robot to a certain extent.
Such as patent publication No. is a kind of wheeled household monitoring machine disclosed in the utility model patent of CN204585230U
People.Its damper is located at the side of connecting plate, and this damping modes easily cause the inclination of wheel train structure, wheel subcenter axis and ground
It is at an angle, the maximum effect of wheel cannot be played.
Such as patent publication No. is that a kind of omnidirectional with independent suspension disclosed in the patent of invention of CN108327473A is complete
Drive mobile robot chassis.By four motor controls, when steering, motor is swung its steering structure therewith easily causes damage, and four solely
Vertical suspension frame structure is complicated and processing cost is high.
Summary of the invention
It, can the invention aims to provide one kind in view of deficiency existing for existing mobile robot damping and steering structure
With the robot damping chassis flexibly turned to, chassis structure is simple, economical.Robot is improved in road traveling
The flexibility of stability and movement.
Realize solution of the invention are as follows:
A kind of robot damping chassis flexibly turned to, including driving wheel group, driven wheel group, bottom plate, cap ned, driven gear,
Drive gear set, top plate.Driving wheel group shares two groups, is symmetrically arranged on the rear portion two sides of bottom plate；Top plate is by being symmetrically arranged on
Four groups of cap neds of pan front are connect with bottom plate；Two groups of driven wheel groups are symmetrically positioned in the front part sides of bottom plate, upper part installation
In on top plate；Drive gear set is installed on the front of bottom plate.
The driven wheel group includes turntable bearing, and turntable bearing outer ring lower part is equipped with two groups of driven wheels connection panel seats, two
Group driven wheel shock absorber bearing, driven gear mounting plate, the turntable bearing inner ring mounting hole are used to driven wheel group being installed on top
On plate.
The driven wheel group further includes driven wheel connection panel seat, driven wheel shock absorber bearing, driven wheel connecting plate, driven wheel wheel
Axis, flange bearing, driven gear mounting plate, wheel, damper, bushing, circlip.
The driven gear mounting plate shares two groups of mounting holes, and internal one group of mounting hole is used for driven gear mounting plate
It is installed on the lower part of turntable bearing, external one group of mounting hole is for connecting driven gear.
The upper mounting holes of the driven wheel connection panel seat lower part and driven wheel connecting plate connect and compose revolute pair.
The upper mounting holes of driven wheel shock absorber bearing lower part and damper connect and compose revolute pair.
The driven wheel connecting plate shares two groups, is distributed in the two sides of wheel, middle part mounting hole respectively with two groups of dampings
Device Lower mounting hole connects and composes revolute pair, and Lower mounting hole is connect with two groups of flange bearings respectively.
The drive gear set includes driving gear, ring flange, motor mounting rack, motor.
The driving gear of the drive gear set cooperates with the driven gear that is mounted in driven wheel group, constitute gear pair with
Realization flexibly turns to.
Driving gear one end face is connect with ring flange, and other end is equipped with nut groove.
The ring flange passes through the output axis connection of motor mounting rack and motor.
The motor mounting rack is equipped with the mounting hole being connected to motor, its internal cylindrical shell with motor when being connected to motor
It shows consideration for and closes, motor mounting rack two sides sponson is equipped with the mounting hole for drive gear set to be connect with bottom plate.
The driving wheel group includes wheel, driving wheel shock absorber bearing, damper, No. 1 connecting plate, synchronous pulley, driving wheel
Connect panel seat, motor, No. 2 connecting plates, driving wheel wheel shaft, circlip, synchronous belt, bushing etc..
The driving wheel connection panel seat is for connecting No. 1 connecting plate, No. 2 connecting plates and bottom plate, the driving wheel damper
Seat is for connecting damper and bottom plate.
No. 1 connecting plate upper mounting holes are for connecting driving wheel connection panel seat, and middle part mounting hole is for connecting damping
Device bottom hole, Lower mounting hole are connect with flange bearing；No. 2 connecting plate upper mounting holes are for connecting driving wheel connecting plate
Seat, middle part mounting hole on the upper side for connecting motor, middle part mounting hole on the lower side for connecting damper bottom hole, Lower mounting hole with
Flange bearing connection；No. 1 connecting plate and No. 2 connecting plate institute connecting flange bearings with driving wheel wheel axis connection and two flanges
Bearing spacer certain distance is for installing bushing and synchronous pulley.
The motor output shaft passes through No. 2 connecting plates and synchronous belt wheel bore cooperates, will be electric by the screw on synchronous pulley
Machine is fixed together with synchronous pulley.
The synchronous pulley shares two groups, and one group is used to connect motor output shaft, and the two passes through the screw on synchronous pulley
It is fixed together；Another group is installed on driving wheel wheel shaft and between two flange bearings, and the bushing is for supplementing installation
Existing gap between two flange bearings after synchronous pulley；Two groups of synchronous pulleys carry out cooperation transmission by synchronous belt.
The driving wheel wheel shaft is installed together by its ring flange upper installing hole with wheel, driving wheel wheel axis connection 1
It is equipped with the multi-diameter shaft for positioning No. 1 connecting plate at connecting plate, groove is equipped at No. 2 connecting plates of driving wheel wheel axis connection to install
For positioning the circlip of No. 2 connecting plates.
The present invention is compared with existing mobile robot, advantage are as follows:
The present invention is respectively arranged with damping device at driving wheel and driven wheel, improve mobile robot traveling stationarity with
Reliability.
The present invention is turned to using gear steering structure, is reduced the robot requirement to space when driving, is made moving machine
Device people turns to more flexible.
The present invention uses modularized design, and mutually indepedent, convenient disassembly between modules is conducive to mobile robot peace
Dress.
In addition to feature described above and advantage, other purposes of the present invention, feature etc. will make into one the present invention in conjunction with attached drawing
Walk explanation.
Detailed description of the invention
Fig. 1 is a kind of robot damping chassis layout flexibly turned to of the invention；
Fig. 2 is a kind of robot damping chassis three-dimensional figure flexibly turned to of the invention；
Fig. 3 is a kind of driving wheel group three-dimensional figure of robot damping chassis flexibly turned to of the invention；
Fig. 4 is a kind of driven wheel group explosive view of robot damping chassis flexibly turned to of the invention；
Fig. 5 is a kind of drive gear set explosive view of robot damping chassis flexibly turned to of the invention.
Wherein:
1. driving wheel group 1a. wheel 1b. driving wheel shock absorber bearing 1c. damper 1d.1 connecting plate 1e. synchronous pulley
1f. driving wheel connects panel seat 1g. motor 1h.2 connecting plate 1i. driving wheel wheel shaft 1j. circlip 1k. synchronous belt 1m. lining
Set
2. driven wheel group 2a. driven wheel connects panel seat 2b. driven wheel shock absorber bearing 2c. turntable bearing 2d. driven wheel connecting plate
Driven wheel wheel shaft 2f. flange bearing 2g. driven gear mounting plate
3. 4. cap ned of bottom plate, 5. driven gear, 6. drive gear set 6a. drives the installation of gear 6b. ring flange 6c. motor
7. top plate of frame.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As Figure 1-Figure 2, a kind of robot damping chassis flexibly turned to, including driving wheel group 1, driven wheel group 2, bottom
Plate 3, cap ned 4, driven gear 5, drive gear set 6, top plate 7.Driving wheel group 1 shares two groups, after being symmetrically arranged on bottom plate 3
Portion two sides.Top plate 7 is connect by being symmetrically arranged on four groups of cap neds 4 of 3 front of bottom plate with bottom plate 3.Two groups of driven wheel groups 2 are symmetrical
Positioned at the front part sides of bottom plate 3, upper part is installed on top plate 7；Drive gear set 6 is installed on the front of bottom plate 3.
Further, the bottom plate 3 is whole is rectangle, and is equipped with monosymmetric rectangular opening for pacifying at 3 rear portion of bottom plate
Driving wheel group 1 is filled, front is equipped with monosymmetric opening and is equipped with round hole for installing electricity for installing driven wheel group 2, front
Machine 1g.It should be noted that the set opening of rectangular opening set by 3 rear portion of bottom plate and front should meet the motion requirement of wheel group.
Further, 4 entirety of cap ned is in I-shaped, has reinforcing rib in the design of its right angle joint, rises and add to cap ned 4
Gu effect.
As shown in figure 3, driving wheel group 1 include wheel 1a, driving wheel shock absorber bearing 1b, damper 1c, No. 1 connecting plate 1d,
Synchronous pulley 1e, driving wheel connection panel seat 1f, motor 1g, No. 2 connecting plate 1h, driving wheel wheel shaft 1i, circlip 1j, synchronous belt 1k,
Bushing 1m.The driving wheel connection panel seat 1f is for connecting No. 1 connecting plate 1d, No. 2 connecting plate 1h and bottom plate 3.The driving wheel
Shock absorber bearing 1b is for connecting damper 1c and bottom plate 3.No. 1 connecting plate 1d upper mounting holes are for connecting driving wheel connection
Panel seat 1f, for connecting damper 1c bottom hole, Lower mounting hole is connect middle part mounting hole with flange bearing 2f.No. 2 companies
Fishplate bar 1h upper mounting holes are for connecting driving wheel connection panel seat 1f, and for middle part mounting hole on the upper side for connecting motor 1g, middle part is inclined
For connecting damper 1c bottom hole, Lower mounting hole is connect lower mounting hole with flange bearing 2f.No. 1 connecting plate 1d and 2
Number connecting plate 1h institute connecting flange bearing 2f, which is connect with driving wheel wheel shaft 1i, and two flange bearing 2f are spaced apart is used for
Bushing 1m and synchronous pulley 1e is installed.
Preferably, No. 1 connecting plate 1d, No. 2 connecting plate 1h be mounted on driving wheel connection panel seat 1f on when, can connecting plate with
Installed thrust ball bearing is between driving wheel connection panel seat 1f contact surface to reduce the friction between the two end face, so that is constituted turns
It is more smooth to move secondary rotation.
Motor 1g output shaft passes through No. 2 connecting plate 1h and the hole synchronous pulley 1e cooperates, and passes through the screw on synchronous pulley 1e
Motor 1g and synchronous pulley 1e are fixed together.The synchronous pulley 1e shares two groups, and one group for connecting motor 1g output
Axis, the two are fixed together by the screw on synchronous pulley 1e；Another group is installed on driving wheel wheel shaft 1i and is located at two methods
Between blue bearing 2f.The bushing 1m is for existing gap between two flange bearing 2f after supplement installation synchronous pulley 1e.Two
Group synchronous pulley 1e carries out cooperation transmission by synchronous belt 1k.The driving wheel wheel shaft 1i passes through its ring flange upper installing hole and wheel
Sub- 1a is installed together, and multi-diameter shaft is equipped at No. 1 connecting plate 1d of driving wheel wheel shaft 1i connection for positioning No. 1 connecting plate 1d, is driven
Groove is equipped at No. 2 connecting plate 1h of driving wheel wheel shaft 1i connection to install the circlip 1j for positioning No. 2 connecting plate 1h.
As shown in figure 4, driven wheel group 2 include turntable bearing 2c, driven wheel connection panel seat 2a, driven wheel shock absorber bearing 2b,
Driven wheel connecting plate 2d, driven wheel wheel shaft 2e, flange bearing 2f, driven gear mounting plate 2g, wheel 1a, damper 1c, bushing
1m, circlip 1j etc..The outer ring turntable bearing 2c lower part is equipped with two groups of driven wheel connections panel seat 2a, two groups of driven wheel dampers
Seat 2b, driven gear mounting plate 2g.
The turntable bearing 2c inner ring mounting hole is used to driven wheel group 2 being installed on top plate 7.
Preferably, bushing 1m should be added between mounting hole and top plate 7 when turntable bearing 2c inner ring is mounted on top plate 7 makes
There is certain gap between turntable bearing 2c and top plate 7, other bolts and nut and top plate 7 in driven wheel group 2 is avoided to occur to do
It relates to.
The driven gear mounting plate 2g shares two groups of mounting holes, and internal one group of mounting hole is for installing driven gear
Plate 2g is installed on the lower part of turntable bearing 2c, and external one group of mounting hole is for connecting driven gear 5.The driven wheel connects panel seat
The upper mounting holes of the lower part 2a and driven wheel connecting plate 2d connect and compose revolute pair.
Preferably, driven wheel connecting plate 2d be mounted on driven wheel connection panel seat 2a on when, can driven wheel connecting plate 2d with
Installed thrust ball bearing is between driving wheel connection panel seat 1f contact surface to reduce the friction between the two end face, so that is constituted turns
It is more smooth to move secondary rotation.
The upper mounting holes of the lower part driven wheel shock absorber bearing 2b and damper 1c connect and compose revolute pair.It is described driven
Wheel connecting plate 2d shares two groups, is distributed in the two sides of wheel 1a, and middle part mounting hole is installed with two groups of lower parts damper 1c respectively
Hole connects and composes revolute pair, and Lower mounting hole is connect with two groups of flange bearing 2f respectively.
As shown in figure 5, drive gear set 6 includes driving gear 6a, ring flange 6b, motor mounting rack 6c, motor 1g.It is described
Driving gear 6a cooperates with the driven gear 5 being mounted in driven wheel group 2, constitutes gear pair and is flexibly turned to realizing.The drive
Mono- end face moving gear 6a is connect with ring flange 6b, and other end is equipped with nut groove.The ring flange 6b passes through motor mounting rack
The output axis connection of 6c and motor 1g.The motor mounting rack 6c is equipped with the mounting hole connecting with motor 1g, connect with motor 1g
When its it is internal be bonded with the cylindrical shell of motor 1g, motor mounting rack 6c two sides sponson is equipped with for by drive gear set 6
The mounting hole being connect with bottom plate 3.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, the present invention
Can have it is many improve and replacement, it is done within the spirit and principles of the present invention it is any improve, modification etc., should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of robot damping chassis flexibly turned to, including driving wheel group (1), driven wheel group (2), bottom plate (3), cap ned
(4), driven gear (5), drive gear set (6), top plate (7)；Driving wheel group (1) shares two groups, is symmetrically arranged on bottom plate (3)
Rear portion two sides；Top plate (7) is connect by being symmetrically arranged on four groups of cap neds (4) of bottom plate (3) front with bottom plate (3)；Two groups from
Driving wheel group (2) is symmetrically positioned in the front part sides of bottom plate (3), and upper part is installed on top plate (7)；Drive gear set (6) is installed on
The front of bottom plate (3).
2. a kind of robot damping chassis flexibly turned to according to claim 1, it is characterised in that: the driven wheel group
It (2) include turntable bearing (2c), turntable bearing (2c) the outer ring lower part is equipped with two groups of driven wheel connections panel seat (2a), two groups
Driven wheel shock absorber bearing (2b), driven gear mounting plate (2g), turntable bearing (2c) the inner ring mounting hole are used for driven wheel
Group (2) is installed on top plate (7).
3. a kind of robot damping chassis flexibly turned to according to claim 1, it is characterised in that: the driven wheel group
It (2) further include driven wheel connection panel seat (2a), driven wheel shock absorber bearing (2b), driven wheel connecting plate (2d), driven wheel wheel shaft
(2e), flange bearing (2f), driven gear mounting plate (2g), wheel (1a), damper (1c), bushing (1m), circlip (1j).
4. a kind of robot damping chassis flexibly turned to according to claim 3, it is characterised in that:
The driven gear mounting plate (2g) shares two groups of mounting holes, and internal one group of mounting hole is used for driven gear mounting plate
(2g) is installed on the lower part of turntable bearing (2c), and external one group of mounting hole is for connecting driven gear (5)；
The upper mounting holes of the driven wheel connection panel seat lower part (2a) and driven wheel connecting plate (2d) connect and compose revolute pair；
The upper mounting holes of the driven wheel shock absorber bearing lower part (2b) and damper (1c) connect and compose revolute pair.
5. a kind of robot damping chassis flexibly turned to according to claim 4, it is characterised in that: the driven wheel connects
Fishplate bar (2d) shares two groups, is distributed in the two sides of wheel (1a), and middle part mounting hole is pacified with two groups of damper lower parts (1c) respectively
Dress hole connects and composes revolute pair, and Lower mounting hole is connect with two groups of flange bearings (2f) respectively.
6. a kind of robot damping chassis flexibly turned to according to claim 1, it is characterised in that: the driving gear
Group (6) includes driving gear (6a), ring flange (6b), motor mounting rack (6c), motor (1g).
7. a kind of robot damping chassis flexibly turned to according to claim 1, it is characterised in that: the driving gear
The driving gear (6a) of group (6) cooperates with the driven gear (5) being mounted on driven wheel group (2), constitutes gear pair to realize spirit
It is living to turn to.
8. a kind of robot damping chassis flexibly turned to according to claim 6, it is characterised in that:
Driving gear (6a) end face is connect with ring flange (6b), and other end is equipped with nut groove；
The ring flange (6b) passes through the output axis connection across motor mounting rack (6c) and motor (1g)；
The motor mounting rack (6c) is equipped with the mounting hole connecting with motor (1g), its internal and motor when connecting with motor (1g)
The cylindrical shell of (1g) is bonded, and motor mounting rack (6c) two sides sponson is equipped with for by drive gear set (6) and bottom plate (3)
The mounting hole of connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910836391.3A CN110481306A (en) | 2019-09-05 | 2019-09-05 | A kind of robot damping chassis flexibly turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910836391.3A CN110481306A (en) | 2019-09-05 | 2019-09-05 | A kind of robot damping chassis flexibly turned to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110481306A true CN110481306A (en) | 2019-11-22 |
Family
ID=68556587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910836391.3A Pending CN110481306A (en) | 2019-09-05 | 2019-09-05 | A kind of robot damping chassis flexibly turned to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110481306A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010076528A (en) * | 2008-09-25 | 2010-04-08 | Nissan Motor Co Ltd | Suspension with steering device |
| US20140353054A1 (en) * | 2011-11-16 | 2014-12-04 | Nissan Motor Co., Ltd. | Steering device for wheel |
| CN204525438U (en) * | 2015-03-05 | 2015-08-05 | 厦门大学 | A kind of band hitch educational robot mobile platform |
| CN105667587A (en) * | 2016-01-07 | 2016-06-15 | 西南交通大学 | Travelling steering mechanism for electric vehicle |
| CN106043417A (en) * | 2016-06-22 | 2016-10-26 | 先驱智能机械（深圳）有限公司 | Steering device for vehicle and vehicle |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN108622190A (en) * | 2018-02-26 | 2018-10-09 | 北京克路德人工智能科技有限公司 | A kind of security robot front-wheel steer chassis |
| CN110126910A (en) * | 2019-06-28 | 2019-08-16 | 康趣智能家居江苏有限公司 | A kind of steering system and the electric vehicle with this steering system |
| CN210478384U (en) * | 2019-09-05 | 2020-05-08 | 山东理工大学 | Robot shock attenuation chassis that turns to in a flexible way |
-
2019
- 2019-09-05 CN CN201910836391.3A patent/CN110481306A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010076528A (en) * | 2008-09-25 | 2010-04-08 | Nissan Motor Co Ltd | Suspension with steering device |
| US20140353054A1 (en) * | 2011-11-16 | 2014-12-04 | Nissan Motor Co., Ltd. | Steering device for wheel |
| CN204525438U (en) * | 2015-03-05 | 2015-08-05 | 厦门大学 | A kind of band hitch educational robot mobile platform |
| CN105667587A (en) * | 2016-01-07 | 2016-06-15 | 西南交通大学 | Travelling steering mechanism for electric vehicle |
| CN106043417A (en) * | 2016-06-22 | 2016-10-26 | 先驱智能机械（深圳）有限公司 | Steering device for vehicle and vehicle |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN108622190A (en) * | 2018-02-26 | 2018-10-09 | 北京克路德人工智能科技有限公司 | A kind of security robot front-wheel steer chassis |
| CN110126910A (en) * | 2019-06-28 | 2019-08-16 | 康趣智能家居江苏有限公司 | A kind of steering system and the electric vehicle with this steering system |
| CN210478384U (en) * | 2019-09-05 | 2020-05-08 | 山东理工大学 | Robot shock attenuation chassis that turns to in a flexible way |
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