CN110884562A - Steering control mechanism for collision-proof cleaning robot - Google Patents
Steering control mechanism for collision-proof cleaning robot Download PDFInfo
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- CN110884562A CN110884562A CN201911247608.3A CN201911247608A CN110884562A CN 110884562 A CN110884562 A CN 110884562A CN 201911247608 A CN201911247608 A CN 201911247608A CN 110884562 A CN110884562 A CN 110884562A
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- cleaning robot
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- 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
- B62D5/0421—Electric motor acting on or near steering gear
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/26—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
- B62D3/08—Steering gears mechanical of worm type with screw and nut using intermediate balls or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to the technical field of running of household robots, in particular to a steering control mechanism for a collision-preventing cleaning robot, which comprises a cleaning robot main body and a remote controller, wherein an operation control block is fixed at the top end of the cleaning robot main body through a screw, a clamping outer ring is welded on the side surface of a shaft at the bottom end of the cleaning robot main body, a wireless transceiving module is movably fixed on one side of the top end of the operation control block, and a remote controller is installed in the remote controller. According to the invention, the steering structure with high strength, good wear resistance and convenient control is added in the device, so that the steering structure in the device can realize rapid steering through remote control, the device is driven to integrally steer, the service life is prolonged through the structural design, and the anti-collision damage structure is added at the outer side of the cleaning robot, so that the damage condition of the device after collision or contact with a hard object is greatly reduced, and good anti-collision protection can be provided for the device.
Description
Technical Field
The invention relates to the technical field of running of household robots, in particular to a steering control mechanism for a collision-preventing cleaning robot.
Background
The concept of the family service robot is far away from the life of common people in the past, and most consumers cannot know the convenience brought to the life by the scientific and technological progress of the family service robot, but along with the rapid development of the society, more and more families set up the household appliances of the reference cleaning robot, more and more consumers use the family service robot products, the concept is not the concept any more, but the consumers feel the actual intimate service through the products, and the existing type has more intelligent functions compared with the traditional cleaning robot.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a steering control mechanism for cleaning robot who prevents collision, includes cleaning robot main part and remote controller, there is the operation control block on the top of cleaning robot main part through the fix with screw, the axle side welding of cleaning robot main part bottom has the joint outer loop, one side activity on operation control block top is fixed with wireless transceiver module, the opposite side on operation control block top is fixed with shift knob, the one end of operation control block is fixed with the LED lamp, the equal joint in both sides of cleaning robot main part has anticollision damage structure, the inside of cleaning robot main part is fixed with direction removal structure.
Preferably, the anti-collision damage structure comprises a protection main board, a matching clamping block, a protection auxiliary board, an elastic impact adsorption structure and a closed locking block, the bottom end of the protection main board is welded with the matching clamping block, the outer surface of the protection main board is in hot melting connection with the elastic impact adsorption structure, one end of the elastic impact adsorption structure is in hot melting connection with the protection auxiliary board, the protection main board and the protection auxiliary board are connected through the elastic impact adsorption structure, the elastic impact adsorption structure comprises a rubber cushion anti-impact block, a stressed guide pillar, a force reduction spring and a movable conduction block, the rubber cushion anti-impact block is fixed at two ends of the stressed guide pillar, the movable conduction block is movably connected to the outer side of the stressed guide pillar, and the force reduction spring is fixed on the inner side of the movable conduction block.
Preferably, the direction removes the structure including turning to transmission pair structure, universal coupling, motor, steering spindle loop bar, loading axle, damping spring piece, removal wheel and control processing module, the one end joint of motor has control processing module, the output of motor is pegged graft and is had universal coupling, the one end of universal coupling is pegged graft and is had the transmission pair structure that turns to, turn to transmission pair structure and motor and pass through universal coupling joint, the inside of turning to transmission pair structure one end is pegged graft and is had steering spindle loop bar, the inside of steering spindle loop bar has cup jointed the loading axle, the surface that loads the axle both ends all is fixed with the damping spring piece, the both ends that load the axle all are fixed with the removal wheel.
Preferably, the steering transmission auxiliary structure comprises a threaded transmission rod, an angular contact bearing, a steering casing, circulating balls, a steering nut, a rack and a sector, the angular contact bearing is fixed inside the steering casing, the threaded transmission rod is inserted inside the angular contact bearing, the outer surface of the threaded transmission rod is connected with the steering nut through threaded meshing, a plurality of circulating balls are fixed inside the steering nut, the rack is arranged on the outer side of the steering nut, and the sector is fixed inside the rack through gear teeth meshing.
Preferably, the control processing module is internally provided with a microprocessor and a module identical to the wireless transceiver module, the module is of the type RFM300LR, the modules are connected by the same digital signal, the microprocessor is of the type a80386PX16, and the microprocessor and the module are electrically connected.
Preferably, a remote controller is installed inside the remote controller, the type of the remote controller is KL4-GPRS-RFVC, and the controller is electrically connected with the wireless transceiver module.
Preferably, the inside of cooperation fixture block has seted up the joint guide slot, the joint guide slot is clearance fit with the joint outer loop.
Preferably, a plurality of square sliding grooves are formed in the side face of the shaft at the upper end of the stressed guide column, square sliding clamping blocks are fixed to the top ends of the movable transmission blocks, and the square sliding grooves are in clearance fit with the square sliding clamping blocks.
Preferably, a plurality of ball fixing grooves are fixed inside the steering nut, and the ball fixing grooves are in clearance fit with the circulating ball.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention controls left turn or right turn by a button on a remote controller, leads instruction signals into a wireless transceiver module through a remote controller, feeds back the signals to a control processing module through the signals of the wireless transceiver module, leads the instructions into a micro-processor after being received by the control processing module through the structure which is the same as the structure of the wireless transceiver module, controls a motor to positively transmit when needing right turn, and transmits torque to a threaded transmission rod through a universal coupler, because the steering transmission pair structure has two stages of transmission pairs, the first stage is the matching of the threaded transmission rod and a steering nut, the second stage is the matching of a rack and a sector, the torque transmits steering force through a circulating ball between the threaded transmission rod and the steering nut, has higher strength and better wear resistance, reduces the abrasion between internal teeth, transmits the steering force to the steering nut, and then drives a steering shaft sleeve rod to swing leftwards through the external teeth by utilizing the rack arranged on the outer side of the steering nut to mesh the steering force, the loading shaft rotates obliquely to the right side through the transmission of the steering shaft sleeve rod to form right rotation, and the transmission of steering force for left rotation is opposite, so that a steering structure in the device can realize rapid steering through remote control, the device is driven to integrally steer, and the service life is prolonged through the structural design;
2. according to the invention, the protection auxiliary plate is preferentially contacted with impact force, and as the protection auxiliary plate, the matching fixture block and the protection main plate are made of carbon fibers, the toughness and the impact resistance are better, the impact force is weakened for the first stage by using the material characteristics, the force is transmitted to the elastic impact adsorption structure, and after being weakened to a certain extent by the rubber cushion impact-proof block, when the force is transmitted to the movable transmission block, the movable transmission block is pushed to slide to the force-reducing spring along the direction of the force-reducing spring along the square sliding groove formed in the force-bearing guide column, the impact force is transmitted to the force-reducing spring, the impact force is absorbed by using the resilience characteristics of the force-reducing spring, the impact force is weakened for the second stage, the damage condition of the device after collision or contact with a harder object is greatly reduced, and better impact-proof protection can be provided for the device.
Drawings
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is a side view of the present invention in its entirety;
FIG. 3 is a schematic structural diagram of a guiding moving structure according to the present invention;
FIG. 4 is a cross-sectional view of the steering transmission pair of the present invention;
FIG. 5 is a partial structural view of the collision damage prevention structure according to the present invention;
fig. 6 is a cross-sectional view of the elastic impact absorbing structure of the present invention.
In the figure: 1. cleaning a robot main body; 2. operating the control block; 3. a wireless transceiver module; 4. a switch button; 5. an LED lamp; 6. clamping the outer ring; 7. a protection main board; 8. matching the fixture block; 9. a protective sub-panel; 10. an elastic impact absorbing structure; 11. a cushion anti-impact block; 12. a stressed guide post; 13. a force-reducing spring; 14. a movable conductive block; 15. closing the locking block; 16. an anti-collision damage structure; 17. a threaded drive link; 18. an angular contact bearing; 19. a steering housing; 20. circulating balls; 21. a steering nut; 22. a rack; 23. a toothed fan; 24. a steering transmission pair structure; 25. a universal coupling; 26. a motor; 27. a steering shaft sleeve rod; 28. a loading shaft; 29. a damping spring block; 30. a moving wheel; 31. a control processing module; 32. a guiding moving structure; 33. and a remote controller.
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 of the embodiments.
Referring to fig. 1 to 6, a steering control mechanism for a collision-proof robot cleaner includes a robot cleaner body 1 and a remote controller 33, an operation control block 2 is fixed to the top end of the robot cleaner body 1 by screws, a snap-in outer ring 6 is welded to the side of the shaft at the bottom end of the robot cleaner body 1, a wireless transceiver module 3 is movably fixed to one side of the top end of the operation control block 2, a remote controller is installed inside the remote controller 33, the remote controller is KL4-GPRS-RFVC, the controller is electrically connected with the wireless transceiving module 3, so that the cleaning robot main body 1 can be controlled remotely conveniently, the other side of the top end of the operation control block 2 is fixed with a switch button 4, one end of the operation control block 2 is fixed with an LED lamp 5, the two sides of the cleaning robot main body 1 are respectively clamped with an anti-collision damage structure 16, and the interior of the cleaning robot main body 1 is fixed with a guide moving structure 32;
the anti-collision damage structure 16 comprises a protection main board 7, a matching clamping block 8, a protection auxiliary board 9, an elastic impact adsorption structure 10 and a closed locking block 15, the matching clamping block 8 is welded at the bottom end of the protection main board 7, a clamping guide groove is formed in the matching clamping block 8 and is in clearance fit with a clamping outer ring 6, the anti-collision damage structure 16 is convenient to install, the elastic impact adsorption structure 10 is connected to the outer surface of the protection main board 7 in a hot melting mode, the protection auxiliary board 9 is connected to one end of the elastic impact adsorption structure 10 in a hot melting mode, the protection main board 7 and the protection auxiliary board 9 are connected through the elastic impact adsorption structure 10, the elastic impact adsorption structure 10 comprises a rubber cushion anti-impact block 11, a stress guide pillar 12, a force reducing spring 13 and a movable guide block 14, the rubber cushion anti-impact blocks 11 are fixed at two ends of the stress guide pillar 12, and the movable, a plurality of square sliding grooves are formed in the side surface of the shaft at the upper end of the stressed guide post 12, square sliding fixture blocks are fixed at the top end of the movable conducting block 14, the square sliding grooves and the square sliding fixture blocks are in clearance fit, so that the force is conveniently conducted and removed when the stressed guide post 12 receives impact force, and a force reducing spring 13 is fixed on the inner side of the movable conducting block 14, so that the anti-collision protection is conveniently carried out on the cleaning robot main body 1;
the guiding moving structure 32 comprises a steering transmission pair structure 24, a universal coupler 25, a motor 26, a steering shaft sleeve rod 27, a loading shaft 28, a damping spring block 29, a moving wheel 30 and a control processing module 31, wherein one end of the motor 26 is connected with the control processing module 31 in a clamping manner, a microprocessor and a module which is the same as the wireless transceiving module 3 are arranged in the control processing module 31, the model of the module is RFM300LR, the modules are connected through the same digital signal, the model of the microprocessor is A80386 16, the microprocessor is electrically connected with the modules, so that control signals can be transmitted conveniently, the traveling direction of the cleaning robot main body 1 is changed, the universal coupler 25 is inserted into the output end of the motor 26, the steering transmission pair structure 24 is inserted into one end of the universal coupler 25, the steering transmission pair structure 24 is connected with the motor 26 through the universal coupler 25, the steering shaft sleeve rod 27 is inserted into one end of the steering transmission pair structure 24, the loading shaft 28 is sleeved inside the steering shaft sleeve rod 27, the damping spring blocks 29 are fixed on the outer surfaces of the two ends of the loading shaft 28, and the moving wheels 30 are fixed on the two ends of the loading shaft 28, so that the cleaning robot main body 1 is driven to steer conveniently, and the cleaning robot main body 1 obtains a motion stroke.
The steering transmission auxiliary structure 24 comprises a threaded transmission rod 17, an angular contact bearing 18, a steering shell 19, a circulating ball 20, a steering nut 21, a rack 22 and a sector 23, the angular contact bearing 18 is fixed inside the steering shell 19, the threaded transmission rod 17 is inserted inside the angular contact bearing 18, the steering nut 21 is connected to the outer surface of the threaded transmission rod 17 through threaded meshing, a plurality of circulating balls 20 are fixed inside the steering nut 21, a plurality of ball fixing grooves are fixed inside the steering nut 21, the ball fixing grooves are in clearance fit with the circulating ball 20, internal tooth abrasion is replaced by rotation of balls, the service life is prolonged, the rack 22 is arranged on the outer side of the steering nut 21, the sector 23 is fixed inside the rack 22 through gear tooth meshing, steering commands are convenient to implement, and the service life of a steering system is prolonged;
the working principle is as follows: when the cleaning robot main body 1 needs to be controlled to steer, a button on the remote controller 33 is used for controlling left steering or right steering, an instruction signal is led into the wireless transceiver module 3 through a remote controller, the signal is fed back to the control processing module 31 through the wireless transceiver module 3, the instruction signal is received through the structure, which is the same as that of the wireless transceiver module 3, in the control processing module 31 and then led into the microprocessor, when right steering is needed, the control motor 26 is in forward transmission, torque is transmitted to the threaded transmission rod 17 through the universal coupler 25, the steering transmission pair structure 24 has two stages of transmission pairs, the first stage is the matching of the threaded transmission rod 17 and the steering nut 21, the second stage is the matching of the rack 22 and the toothed sector 23, the torque transmits steering force through the circulating ball 20 between the threaded transmission rod 17 and the steering nut 21, and the cleaning robot main body has higher strength and better wear resistance, and reduces the wear between internal teeth, after the steering force is transmitted to the steering nut 21, the rack 22 arranged on the outer side of the steering nut 21 is utilized to drive the steering shaft sleeve rod 27 to swing leftwards through external tooth meshing, the loading shaft 28 obliquely rotates rightwards through the transmission of the steering shaft sleeve rod 27 to form right turning, the transmission of the steering force for the left turning is opposite, so that the steering structure in the device can realize rapid steering through remote control, the device is driven to integrally steer, and the better service life is obtained through the structural design; when the cleaning robot main body 1 contacts with a hard object, impact force is generated, the main body of the cleaning robot main body 1 is rebounded and impacted by the force, the protection auxiliary plate 9 contacts with the impact force preferentially, the protection auxiliary plate 9, the matching fixture block 8 and the protection main plate 7 are made of carbon fibers, the toughness and the impact resistance are good, the impact force is weakened for the first level by using the material characteristics, the force is transmitted to the elastic impact adsorption structure 10, after being weakened for a certain degree by the rubber cushion impact-proof block 11, when the force is transmitted to the movable transmission block 14, the movable transmission block 14 is pushed to slide towards the force-reducing spring 13 along the square sliding groove arranged on the stress guide post 12 along the stress direction, the impact force is transmitted to the force-reducing spring 13, the impact force is adsorbed by using the rebounding characteristics of the force-reducing spring 13, the impact force is weakened for the second level, and the damage condition of the device after collision or contact with the hard object is greatly reduced, better protection against shock can be provided to the device.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. A steering control mechanism for a collision-proof cleaning robot, comprising a cleaning robot main body (1) and a remote controller (33), characterized in that: the top of cleaning machines people main part (1) is passed through the fix with screw and is had operation control block (2), the axle side welding of cleaning machines people main part (1) bottom has joint outer ring (6), one side activity on operation control block (2) top is fixed with wireless transceiver module (3), the opposite side on operation control block (2) top is fixed with shift knob (4), the one end of operation control block (2) is fixed with LED lamp (5), the equal joint in both sides of cleaning machines people main part (1) has anticollision to damage structure (16), the inside of cleaning machines people main part (1) is fixed with direction removal structure (32).
2. The steering control mechanism for a collision-proof cleaning robot according to claim 1, characterized in that: the anti-collision damage structure (16) comprises a protection main board (7), a matching clamping block (8), a protection auxiliary board (9), an elastic impact adsorption structure (10) and a closed locking block (15), the matching clamping block (8) is welded at the bottom end of the protection main board (7), the elastic impact adsorption structure (10) is connected to the outer surface of the protection main board (7) in a hot melting mode, the protection auxiliary board (9) is connected to one end of the elastic impact adsorption structure (10) in a hot melting mode, the protection main board (7) and the protection auxiliary board (9) are connected through the elastic impact adsorption structure (10), the elastic impact adsorption structure (10) comprises a rubber cushion anti-impact block (11), a stress guide pillar (12), a force reducing spring (13) and a movable conduction block (14), the rubber cushion anti-impact blocks (11) are fixed at two ends of the stress guide pillar (12), and the movable conduction block (14) is movably connected to the outer side of the stress guide pillar (, a force reducing spring (13) is fixed on the inner side of the movable transmission block (14).
3. The steering control mechanism for a collision-proof cleaning robot according to claim 1, characterized in that: the guide moving structure (32) comprises a steering transmission pair structure (24), a universal coupler (25), a motor (26), a steering shaft sleeve rod (27), a loading shaft (28), a damping spring block (29), a moving wheel (30) and a control processing module (31), wherein the control processing module (31) is connected to one end of the motor (26) in a clamping mode, the universal coupler (25) is connected to the output end of the motor (26) in an inserting mode, the steering transmission pair structure (24) is connected to one end of the universal coupler (25) in an inserting mode, the steering transmission pair structure (24) is connected with the motor (26) through the universal coupler (25), the steering shaft sleeve rod (27) is connected to the inside of one end of the steering transmission pair structure (24) in an inserting mode, the loading shaft (28) is connected to the inside of the steering shaft sleeve rod (27) in a sleeving mode, and the damping spring blocks (29) are fixed to the outer surfaces of the two ends of the, moving wheels (30) are fixed at both ends of the loading shaft (28).
4. The steering control mechanism for a collision-proof cleaning robot according to claim 3, characterized in that: the steering transmission auxiliary structure (24) comprises a threaded transmission rod (17), an angular contact bearing (18), a steering casing (19), circulating balls (20), a steering nut (21), a rack (22) and a sector (23), the angular contact bearing (18) is fixed inside the steering casing (19), the threaded transmission rod (17) is inserted inside the angular contact bearing (18), the outer surface of the threaded transmission rod (17) is connected with the steering nut (21) through threaded meshing, a plurality of circulating balls (20) are fixed inside the steering nut (21), the rack (22) is arranged on the outer side of the steering nut (21), and the sector (23) is fixed inside the rack (22) through gear teeth meshing.
5. The steering control mechanism for a collision-proof cleaning robot according to claim 1, characterized in that: the control processing module (31) is internally provided with a microprocessor and a module which is the same as the wireless transceiving module (3), the model of the module is RFM300LR, the modules are connected through the same digital signals, the model of the microprocessor is A80386PX16, and the microprocessor and the modules are electrically connected.
6. The steering control mechanism for a collision-proof cleaning robot according to claim 1, characterized in that: the remote controller is characterized in that a remote controller is installed inside the remote controller (33), the type of the remote controller is KL4-GPRS-RFVC, and the controller is electrically connected with the wireless transceiver module (3).
7. The steering control mechanism for a collision-proof cleaning robot according to claim 2, characterized in that: the inside of cooperation fixture block (8) has seted up the joint guide slot, the joint guide slot is clearance fit with joint outer loop (6).
8. The steering control mechanism for a collision-proof cleaning robot according to claim 2, characterized in that: the axial side surface of the upper end of the stressed guide post (12) is provided with a plurality of square sliding grooves, the top end of the movable transmission block (14) is fixed with a square sliding clamping block, and the square sliding grooves and the square sliding clamping block are in clearance fit.
9. The steering control mechanism for a collision-proof cleaning robot according to claim 3, characterized in that: a plurality of sphere fixing grooves are fixed inside the steering nut (21), and the sphere fixing grooves are in clearance fit with the circulating balls (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911247608.3A CN110884562B (en) | 2019-12-09 | 2019-12-09 | Steering control mechanism for collision-proof cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911247608.3A CN110884562B (en) | 2019-12-09 | 2019-12-09 | Steering control mechanism for collision-proof cleaning robot |
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| CN110884562A true CN110884562A (en) | 2020-03-17 |
| CN110884562B CN110884562B (en) | 2021-02-02 |
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| CN201911247608.3A Active CN110884562B (en) | 2019-12-09 | 2019-12-09 | Steering control mechanism for collision-proof cleaning robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776055A (en) * | 2020-07-06 | 2020-10-16 | 苏州奥通汽车科技有限公司 | Angle indicating steering wheel with self-locking performance |
| CN111924005A (en) * | 2020-07-28 | 2020-11-13 | 景才礼 | Mining hydraulic self-moving trackless equipment train |
| CN112572668A (en) * | 2021-01-18 | 2021-03-30 | 重庆第二师范学院 | Automobile steering system for industrial research and study lessons of children |
| CN113581110A (en) * | 2021-09-01 | 2021-11-02 | 蓝莓极客(武汉)智能科技有限公司 | Collision protection device for industrial transportation robot |
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| CN200939099Y (en) * | 2006-08-15 | 2007-08-29 | 温岭万顺机电制造有限公司 | Floor sweeping duster having automatic charging function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776055A (en) * | 2020-07-06 | 2020-10-16 | 苏州奥通汽车科技有限公司 | Angle indicating steering wheel with self-locking performance |
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| CN113581110A (en) * | 2021-09-01 | 2021-11-02 | 蓝莓极客(武汉)智能科技有限公司 | Collision protection device for industrial transportation robot |
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| CN110884562B (en) | 2021-02-02 |
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