CN110562350A - All-round eight rounds of cross country cars of differential wheel group structure - Google Patents
All-round eight rounds of cross country cars of differential wheel group structure Download PDFInfo
- Publication number
- CN110562350A CN110562350A CN201910902006.0A CN201910902006A CN110562350A CN 110562350 A CN110562350 A CN 110562350A CN 201910902006 A CN201910902006 A CN 201910902006A CN 110562350 A CN110562350 A CN 110562350A
- Authority
- CN
- China
- Prior art keywords
- wheel
- differential
- wheel set
- wheels
- power
- 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
Classifications
-
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
the invention relates to an all-round eight-wheel off-road vehicle with a differential wheel set structure, which provides a rolling speed difference of a left wheel and a right wheel through a differential mechanism, reduces the friction between the wheels and the ground, and increases the number of driving wheels through the differential wheel set structure; the contact quantity of the wheels and the ground is increased by damping when the vehicle runs on the rough ground, the total contact area of the vehicle and the ground is increased, and the sinking of the vehicle on the soft ground is reduced; the total ground contact width is increased through the differential wheel set structure, and the ground contact area of the vehicle is increased; the pivot steering movement of the wheels is changed into the rolling movement of the wheel groups on the two sides, so that the sinking is reduced, and the cross-country performance of the vehicle is improved.
Description
Technical Field
The invention relates to an all-round eight-wheel off-road vehicle with a differential wheel set structure, which has strong off-road property and high flexibility and belongs to the field of special vehicles.
Background
In the existing special vehicle structure, most of the wheeled vehicles have certain defects in off-road performance, the contact area between the wheels and the ground is limited, the number of the driven wheels is small, the width of the wheels is limited, so that the problems of wheel sinking and wheel slipping are easily caused when the vehicles pass through soft, muddy and other extreme road surfaces, and the problem of wheel sinking is particularly serious when the wheels are steered in situ, so that the integral passing performance is influenced.
disclosure of Invention
Aiming at the defects, the invention provides an all-round eight-wheel off-road vehicle with a differential wheel set structure, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
An omnibearing eight-wheel off-road vehicle with a differential wheel set structure comprises a differential wheel set device, a wheel direction control device, a wheel damping device, a vehicle power device, a steering control device, a chassis and a shell;
in the differential wheel set structure, two wheels are arranged on the left side and the right side of a wheel set fixing frame, the wheels are arranged on wheel shafts of a damping frame through bearings, the wheel shafts are arranged in damping sliders, the damping sliders are arranged in cylindrical structures on the two sides of the wheel set fixing frame and can slide relatively, springs are arranged between the damping sliders and the wheel sets, the wheels can move up and down, two driving shafts are connected to the two sides of a differential mechanism inside the wheel set fixing frame, the driving shafts are fixed in the wheel set fixing frame through shaft sleeves and bearings, a chain wheel is arranged at the other end of each wheel driving shaft, the differential mechanism is fixed in the wheel set fixing frame through the bearings and; the take-up pulley is installed on the tensioning arm, and the tensioning arm is installed in the wheelset mount, and arm of force one end ann has the torsional spring, can realize the elasticity automatically regulated to the chain, when moving to the relative distance change because of damper between wheel and the power drive axle, through the elasticity of tensioning sprocket automatically regulated sprocket, keeps transmission stability.
The differential and the power shaft are transmitted through a bevel gear, a belt wheel is mounted at the top end of the power shaft for power input, a direction gear and a support frame are fixed together, the axis of a wheel set device is used as a rotating shaft to drive the wheel device to steer in situ at any angle, when the wheel device moves forwards, the differential drives wheel driving shafts to rotate in the same direction to provide power for the two wheels to move forwards, and when the wheel set performs in situ steering and common steering movement, the differential can provide rolling speed difference of the left wheel and the right wheel, so that the friction between the wheels and the ground is reduced.
the differential wheel set structure increases the number of driving wheels, improves the contact number of the wheels and the ground during running on the rough ground through shock absorption, increases the total contact area of the vehicle and the ground, reduces the sinking of the vehicle on the soft ground, and improves the trafficability of the vehicle.
In the steering control device, a direction pinion drives a direction gear in the wheel device to rotate through a notch on a connecting shell, and synchronous rotation of a plurality of wheel sets is realized through a gear set; the differential gear set device and the shell on the upper portion rotate at any angle, the steering directions of the differential gear set device and the shell are the same, the direction motor has a self-locking function and rotates in two directions, the direction motor provides a driving force for steering, and the self-locking force of the motor is used for offsetting the influence of other power on the transmission of the steering control device.
In the vehicle power device, synchronous belt wheels are mounted on power motors, power is transmitted to each differential wheel set at a constant speed through a belt, the number of the power motors is not limited, the power motors can be changed into a plurality of power motors to drive the belt simultaneously according to use requirements, power input is increased, the transmission mode is not limited to belt transmission and can be changed into various transmission modes such as chain transmission or shaft transmission.
The differential wheel set device do not have the restriction in quantity, can increase the wheel device according to the demand, the turning to of differential wheel device is synchronous with the forward motion, can be on differential wheel set structure basis, trades the wheel into the track structure to adapt to different environment, the transmission of differential wheel set structure is not only limited to chain drive, can trade multiple drive mechanism such as gear drive, band pulley transmission according to the demand.
The vehicle body can be used as a driving device of a mobile robot and a special operation robot.
Compared with the prior art, the invention redesigns the wheels and the vehicle mechanism, realizes that the number of the wheels is not less than 8 under the condition of smaller volume, improves the number of the driving wheels, increases the total ground contact width through the differential wheel set structure, increases the ground contact area of the vehicle, changes the in-situ steering motion of the wheels into the rolling motion of the wheel sets at two sides, reduces the sinking degree, increases the shock absorption of the wheels, improves the contact number of the vehicle with the ground on the undulating ground, and improves the cross-country performance of the vehicle.
Drawings
FIG. 1 is an overall schematic of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of a portion of the wheel construction of the present invention;
FIG. 4 is a schematic diagram of a wheel structure transmission structure of the present invention;
FIG. 5 is a schematic structural view of the present invention;
In the figure: 1. a housing, 2, a rotating bracket, 3, a central large gear, 4, a battery, 5, a direction pinion, 6, a direction motor, 7, a power motor, 8, a bottom plate, 9, a central shaft, 10, a supporting shaft, 11, a direction pinion, 12, a power small belt wheel, 13, a connecting shell, 14, a direction pinion, 15, a positioning shell, 16, a positioning bearing, 17, a wheel fixing shaft, 18, a differential, 19, a wheel shaft, 20, a small bevel gear, 21, a large bevel gear, 22, a power chain wheel, 23, a differential small bevel gear, 24, a differential large bevel gear, 25, a shaft barrel, 26, a power driving shaft, 27, a tensioning arm, 28, a tensioning chain wheel, 29, a wheel chain wheel, 30, a sliding rail, 31, a power large belt wheel, 32, a wheel fixing supporting sheet, 33, a chain, 34, a wheel, 35, a power shaft, 36, a wheel set fixing frame, 37, a torsion spring, 38, a pressure spring, 39 slide block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
referring to fig. 1-5, the present invention provides a technical solution:
An omnibearing eight-wheel off-road vehicle with a differential wheel set structure comprises a differential wheel set device, a wheel direction control device, a damping device, a vehicle power device, a steering control device, a chassis and a shell; the two wheels 34 are arranged on the two sides of the wheel set fixing frame 36, the wheels 34 are arranged on a wheel shaft 19 of the damping frame through bearings, the wheel shaft 19 is arranged in a damping sliding block 39, the damping sliding block 39 is arranged in a cylindrical structure on the two sides of the wheel set fixing frame 36 and can slide relatively, a spring is arranged between the damping sliding block 39 and the wheel set, the wheels 34 can move up and down, two driving shafts 26 are connected to the two sides of a differential mechanism 18 in the wheel set fixing frame 36, the driving shafts 26 are fixed in the wheel set fixing frame 36 through shaft sleeves and bearings, the other end of each wheel driving shaft 26 is provided with a chain wheel 22, the differential mechanism 18 is fixed in the wheel set fixing frame 36 through the bearings; the tensioning wheel 28 is arranged on the tensioning arm 27, the tensioning arm 27 is arranged in the wheel set fixing frame 36, the torsion spring 37 is arranged at one end of the force arm, the tightness of the chain 33 can be automatically adjusted, and when the relative distance between the wheel 34 and the power driving shaft 26 is changed due to the movement of the damping mechanism, the tightness of the chain wheel 33 is automatically adjusted through the tensioning chain wheel 28, and the transmission stability is kept.
the differential gear 18 and the power shaft 26 are driven by a bevel gear, a belt wheel 31 is mounted at the top end of the power shaft 35 for power input, the direction gear 14 and the support frame 36 are fixed together, the axle center of the wheel set device is used as a rotating shaft to drive the wheel device to steer in place at any angle, when the wheel set moves, the differential gear 18 drives the wheel driving shaft 26 to rotate in the same direction to provide power for the two wheels to move forwards, when the wheel set moves in place and in common steering, the differential gear 18 can provide rolling speed difference of the left wheel and the right wheel, so that friction between the wheels 34 and the ground is reduced, the number of driving wheels is increased by the differential gear set structure, the contact number between the wheels 34 and the ground during rough ground running is increased by damping, the total contact area between the wheels 34 and the ground is increased, sinking of the vehicle on the soft ground is reduced.
In the steering control device, a central direction gear 3 is fixed to a central shaft 9; the direction gear 5 in the wheel device is driven to rotate through the notch on the connecting shell, and the synchronous rotation of the multiple wheel sets is realized through the gear set; the differential gear set device and the shell on the upper portion rotate at any angle, the steering directions of the differential gear set device and the shell are the same, the direction motor 6 has a self-locking function and rotates in two directions, the direction motor 6 provides driving force for steering, and the self-locking force of the motor is used for offsetting the influence of other power on the transmission of the steering control device.
In the vehicle power device, synchronous pulley 12 is installed on power motor 7, and power is transmitted to each differential wheel set at a constant speed through a belt, wherein the number of power motors is not limited, and the power motors can be changed into a plurality of power motors to drive the belt simultaneously according to use requirements, so that power input is increased, and the transmission mode is not limited to belt transmission and can be changed into various transmission modes such as chain transmission or shaft transmission. The differential wheel set device on the vehicle has no limit on quantity, the wheel device can be added according to the requirement, the steering and advancing motion of the differential wheel device are synchronous, the wheels can be changed into a crawler belt structure on the basis of the differential wheel set structure so as to adapt to different environments, the transmission of the differential wheel set structure is not only limited to chain transmission, but also can be changed into various transmission mechanisms such as gear transmission, belt wheel transmission and the like according to the requirement; the vehicle body can be used as a driving device of a mobile robot and a special operation robot.
The invention relates to an all-round eight-wheel off-road vehicle with a differential wheel set structure, wherein a wheel direction control device drives a direction gear 5 in the wheel device to rotate through a notch on a connecting shell, synchronous rotation of a plurality of wheel sets is realized through the gear sets, the differential wheel set device and an upper shell rotate at any angle, the steering directions of the differential wheel set device and the shell are the same, a direction motor 6 has a self-locking function and rotates in two directions, the direction motor 6 provides a driving force for steering, and the self-locking force of the motor is used for offsetting the influence of other power on the transmission of the steering control device; in the vehicle power device, a power motor 7 is provided with a synchronous belt wheel 12, and power is transmitted to each differential gear set at a constant speed through a belt; in the differential gear assembly, a torsion spring 37 at one end of a tension arm 27 can realize automatic tightness adjustment of a chain 33, and when the relative distance between a wheel 34 and a power driving shaft 26 changes due to the movement of a damping mechanism, the tightness of the chain wheel 33 is automatically adjusted through a tension chain wheel 28, so that the transmission stability is kept; the differential gear 18 and the power shaft 26 are driven by a bevel gear, a belt wheel 31 is mounted at the top end of the power shaft 35 for power input, the direction gear 14 and the support frame 36 are fixed together, the axis of the wheel set device is used as a rotating shaft to drive the wheel device to steer at any angle in situ, when the wheel set advances, the differential gear 18 drives the wheel driving shaft 26 to rotate in the same direction to provide power for advancing of the two wheels, and when the wheel set steers in situ and performs ordinary steering movement, the differential gear 18 can provide rolling speed difference of the left wheel and the right wheel, and friction between the wheels 34 and the ground is reduced.
although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (5)
1. An all-round eight-wheel off-road vehicle with a differential wheel set structure is characterized by comprising a differential wheel set device, a wheel direction control device, a damping device, a vehicle power device, a steering control device, a chassis and a shell;
In the differential wheel set structure, two wheels 34 are arranged on the left side and the right side of a wheel set fixing frame 36, the wheels 34 are arranged on a wheel shaft 19 of a damping frame through bearings, the wheel shaft 19 is arranged in a damping slide block 39, the damping slide block 39 is arranged in cylindrical structures on the two sides of the wheel set fixing frame 36 and can slide relatively, a spring is arranged between the damping slide block 39 and the wheel set, and the wheels 34 can move up and down;
the two driving shafts 26 are connected to two sides of the differential mechanism 18 in the wheel set fixing frame 36, the driving shafts 26 are fixed in the wheel set fixing frame 36 through shaft sleeves and bearings, the chain wheel 22 is installed at the other end of each wheel driving shaft 26, the differential mechanism 18 is fixed in the wheel set fixing frame 36 through the bearings and the shaft sleeves, and the driving chain wheel 22 is driven to rotate to enable the wheels 34 to rotate; the tensioning wheel 28 is arranged on the tensioning arm 27, the tensioning arm 27 is arranged in the wheel set fixing frame 36, a torsion spring 37 is arranged at one end of the force arm, the tightness of the chain 33 can be automatically adjusted, and when the relative distance between the wheel 34 and the power driving shaft 26 is changed due to the movement of the damping mechanism, the tightness of the chain wheel 33 is automatically adjusted through the tensioning chain wheel 28, so that the transmission stability is kept;
The differential gear 18 and the power shaft 26 are driven by a bevel gear, a belt wheel 31 is mounted at the top end of the power shaft 35 for power input, the direction gear 14 and the support frame 36 are fixed together, the axis of the wheel set device is used as a rotating shaft to drive the wheel device to steer at any angle in situ, when the wheel device advances, the differential gear 18 drives the wheel driving shaft 26 to rotate in the same direction to provide power for advancing of the two wheels, and when the wheel set rotates in situ and moves in common steering, the differential gear 18 can provide rolling speed difference of the left wheel and the right wheel, so that the friction between the wheels 34 and the ground is reduced;
The differential wheel set structure increases the number of driving wheels, improves the contact number of the wheels 34 and the ground during running on the rough ground through shock absorption, increases the total contact area of the wheels 34 and the ground, reduces the sinking of the vehicle on the soft ground, and improves the trafficability of the vehicle.
2. The omni-directional eight-wheel off-road vehicle with the differential wheel set structure as claimed in claim 1, wherein the steering control device is characterized in that a direction pinion 11 drives a direction gear 5 in the wheel device to rotate through a notch on a connecting shell, and synchronous rotation of multiple wheel sets is realized through a gear set; the differential gear set device and the shell on the upper portion rotate at any angle, the steering directions of the differential gear set device and the shell are the same, the direction motor 6 has a self-locking function and rotates in two directions, the direction motor 6 provides driving force for steering, and the self-locking force of the motor is used for offsetting the influence of other power on the transmission of the steering control device.
3. The all-round eight-wheel off-road vehicle with a differential wheel set structure as claimed in claim 1, wherein the vehicle power device is characterized in that a synchronous pulley 12 is mounted on the power motor 7, and power is transmitted to each differential wheel set at a constant speed through a belt, wherein the number of the power motors is not limited, a plurality of power motors can be replaced by simultaneously driving the belt according to the use requirement, the power input is increased, and the transmission mode is not limited to belt transmission but can be replaced by multiple transmission modes such as chain transmission or shaft transmission.
4. The eight-wheel all-round off-road vehicle with the differential wheel set structure as claimed in claim 1, wherein the differential wheel set device on the vehicle has no limitation in quantity, the wheel device can be added according to requirements, the steering and advancing motions of the differential wheel device are synchronous, the wheels can be replaced by a crawler belt structure on the basis of the differential wheel set structure to adapt to different environments, and the transmission of the differential wheel set structure is not only limited to chain transmission, but also can be replaced by a plurality of transmission mechanisms such as gear transmission and belt wheel transmission according to requirements.
5. the eight-wheeled all-round vehicle according to claim 1, wherein said vehicle body is a vehicle body which can be used as a driving device for a mobile robot or a special working robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902006.0A CN110562350A (en) | 2019-09-24 | 2019-09-24 | All-round eight rounds of cross country cars of differential wheel group structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902006.0A CN110562350A (en) | 2019-09-24 | 2019-09-24 | All-round eight rounds of cross country cars of differential wheel group structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110562350A true CN110562350A (en) | 2019-12-13 |
Family
ID=68781780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910902006.0A Pending CN110562350A (en) | 2019-09-24 | 2019-09-24 | All-round eight rounds of cross country cars of differential wheel group structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110562350A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB792982A (en) * | 1954-08-03 | 1958-04-09 | Leverstart Ltd | Improvements in or relating to driving and steering mechanism for vehicles |
| US5609216A (en) * | 1995-03-01 | 1997-03-11 | Cybermotion, Inc. | Mobile base having leg assemblies with two wheels |
| CN104890727A (en) * | 2015-06-14 | 2015-09-09 | 曹昂 | 360-degree omni-directional steering trolley |
| CN204821698U (en) * | 2015-07-14 | 2015-12-02 | 上海英集斯自动化技术有限公司 | Unmanned carrier actuating system |
| CN105151160A (en) * | 2015-10-23 | 2015-12-16 | 曹昂 | Universal vehicle |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| CN106476930A (en) * | 2016-09-22 | 2017-03-08 | 杜忠华 | A kind of rotary travel mechanism of four-wheel |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN107616076A (en) * | 2017-10-17 | 2018-01-23 | 吴禹宸 | A kind of active balancing formula farmland flusher |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
-
2019
- 2019-09-24 CN CN201910902006.0A patent/CN110562350A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB792982A (en) * | 1954-08-03 | 1958-04-09 | Leverstart Ltd | Improvements in or relating to driving and steering mechanism for vehicles |
| US5609216A (en) * | 1995-03-01 | 1997-03-11 | Cybermotion, Inc. | Mobile base having leg assemblies with two wheels |
| CN104890727A (en) * | 2015-06-14 | 2015-09-09 | 曹昂 | 360-degree omni-directional steering trolley |
| CN204821698U (en) * | 2015-07-14 | 2015-12-02 | 上海英集斯自动化技术有限公司 | Unmanned carrier actuating system |
| CN105151160A (en) * | 2015-10-23 | 2015-12-16 | 曹昂 | Universal vehicle |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| CN106476930A (en) * | 2016-09-22 | 2017-03-08 | 杜忠华 | A kind of rotary travel mechanism of four-wheel |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN107616076A (en) * | 2017-10-17 | 2018-01-23 | 吴禹宸 | A kind of active balancing formula farmland flusher |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953937B (en) | Improved structure of walking system of walking combined type mobile robot | |
| US9828047B2 (en) | Suspension and lock-out systems for a tracked vehicle | |
| US11634174B2 (en) | Coaxial co-located vehicle drive power and steering system | |
| CN112092539A (en) | Movable chassis | |
| JPH08133141A (en) | Flexible crawler having triangularly disposed three-wheel mechanism | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| CN114802497A (en) | Portable wheel-track double-swing-arm mobile robot | |
| CN112092553A (en) | Chassis with zero turning radius and strong shock resistance | |
| CN210555250U (en) | AGV is shock attenuation wheel subassembly and two wheel groups that drive for dolly | |
| CN110562350A (en) | All-round eight rounds of cross country cars of differential wheel group structure | |
| CN112373587A (en) | All-terrain shock-absorbing tracked vehicle chassis and tracked vehicle with same | |
| CN216002831U (en) | Universal driving assembly, chassis and wheeled robot | |
| US3659666A (en) | Articulated vehicle | |
| CN212473705U (en) | Crawler vehicle chassis | |
| CN213501652U (en) | Movable chassis | |
| CN212604468U (en) | Universal mobile robot omnidirectional chassis | |
| CN109436127B (en) | Mobile robot chassis suitable for complex terrain | |
| CN113246673A (en) | Crawler-type action system applied to amphibious unmanned vehicle | |
| CN113479017A (en) | Universal crawler belt wheel set and movement method thereof | |
| CN219821146U (en) | Vertical damping mechanism for driving wheel of omnidirectional mobile robot and robot | |
| CN111169245A (en) | Independent universal moving wheel system | |
| CN219382647U (en) | Robot crawler traveling system | |
| CN217198515U (en) | Motorcycle cradle type damping device | |
| CN213501683U (en) | Chassis with zero turning radius and strong shock resistance | |
| CN221188823U (en) | Rubber track structure suitable for focus equipment |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191213 |