CN110949120B - Differential driving device of non-independent suspension - Google Patents
Differential driving device of non-independent suspension Download PDFInfo
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- CN110949120B CN110949120B CN201911424818.5A CN201911424818A CN110949120B CN 110949120 B CN110949120 B CN 110949120B CN 201911424818 A CN201911424818 A CN 201911424818A CN 110949120 B CN110949120 B CN 110949120B
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- 239000000725 suspension Substances 0.000 title claims abstract description 120
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000007704 transition Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009191 jumping Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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
- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a differential driving device of a non-independent suspension, which comprises a frame, two independent driving wheel assemblies, a middle supporting piece and a rotating assembly, wherein the frame is provided with a plurality of driving wheel assemblies; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the middle support is mounted on the frame by a suspension system; the rotating component is rotationally connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure and comprises two parts of suspension structures which are respectively matched with two driving wheel assemblies, each part of suspension structure comprises at least one stage of suspension, the two stages of suspension are fixedly connected with an intermediate support piece, and a transition structure with a guiding function is arranged between two adjacent stages of suspension. The differential driving device can ensure that the driving wheel is effectively contacted with the ground on the road surfaces such as uneven, small obstacles, sloping factories, parking lots and the like under the condition of high bearing; in particular to an ultrathin wheeled robot.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a differential driving device of a non-independent suspension.
Background
The whole car height of the existing AGV with high load is higher, most of car body heights are more than 250mm, and therefore the AGV cannot be directly submerged in equipment with lower bottoms such as a car and a tool car for transportation and carrying.
Patent number 201220549561.3 "an AGV differential drive unit" patent right has terminated, discloses an AGV differential drive unit, including unit body, drive wheel and rotating assembly, this internal fixed block that sets up of unit, the fixed block with the drive wheel bearing is connected, rotating assembly set up in unit body upper portion. The invention adopts a compact structural design, so that the driving structure rotates flexibly, the axial center outgoing line and 360 degrees of free rotation are realized, the driving shaft bearing seat adopts a double tapered roller bearing, the compressive strength of the driving structure is ensured, the clear height is greatly reduced, the height space is saved, and the application range of the AGV on the existing industrial truck of a customer is further improved.
Patent number 201610504740.8 "a single drive differential drive system and AGV dolly that contains this system" has been disclosed, the invention relates to a single drive differential drive system and AGV dolly that contains this system, this actuating system includes actuating mechanism and supporting mechanism, supporting mechanism includes the frame body and runs through the fixed axle of frame body left and right sides board, actuating mechanism includes the cross roller bearing that sets up in the frame body in the middle of, symmetrical driving motor that sets up in the cross roller bearing both sides and a pair of cover is established at the both ends of fixed axle and is connected with corresponding one side driving motor transmission respectively. Compared with the prior art, the invention adopts two independent driving motors to respectively drive the driving wheels on the corresponding sides to independently rotate, and well solves the requirement of differential driving on the road surface under the cooperation of the driving mechanism and the supporting mechanism.
Although the two patent schemes can reduce the whole height of the AGV, the suspension system for adapting to the complex ground is lacking, and under the condition of high bearing, the driving wheel is difficult to ensure effective contact with the ground when the AGV runs on the road surfaces such as uneven, small obstacles, gradient factories, parking lots and the like; and lack 360 rotation angle measurement feedback mechanisms, can't accurate control differential drive structure's rotation angle, above problem all can influence wheeled robot's operation effect.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a differential driving device of a non-independent suspension.
The aim of the invention is realized by the following technical scheme: a differential driving device of a non-independent suspension comprises a frame, two independent driving wheel assemblies, a middle supporting piece and a rotating assembly; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the intermediate support is mounted on the frame by a suspension system; the rotating component is rotationally connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure and comprises two parts of suspension structures which are respectively matched with two driving wheel assemblies, each part of suspension structure comprises at least one stage of suspension, the two stages of suspension are fixedly connected with a middle supporting piece, and a transition structure with a guiding function is arranged between two adjacent stages of suspension.
Further, the driving wheel assembly comprises driving wheels, a transmission mechanism, a motor and a speed reducer, the two driving wheels are driven by the independent motor and the speed reducer through the transmission mechanism, and through controlling the running speeds of the two driving wheels, the differential driving device can realize omnidirectional movements such as straight running, transverse moving, rotation and the like.
Further, the transmission mechanism adopts one or more groups of gear transmission or chain transmission; one specific example: the gear transmission mode is adopted, the gear set consists of three gears, namely a driving gear, an intermediate gear and a driven gear, which are meshed in sequence, and the driving gear is connected with an output shaft of the speed reducer through a key and is supported by a bearing; the driven gear is connected with the driving wheel shaft and is supported by the back-to-back angular contact bearing.
Further, the transition structure is realized through the cooperation of the guide rail and the sliding block.
Further, the suspension includes an elastic element and at least one guide mechanism through which up-and-down telescopic movement is achieved, a specific example: the guide mechanism is realized by combining a sliding element with a guide shaft or combining a guide rail with a sliding block; the sliding element may be a linear bearing, a sliding bearing or a wear resistant material.
Further, when each part of the suspension structure of the suspension system has only one stage of suspension, the suspension has a pretensioning structure capable of pretensioning the elastic element and adjusting the initial height of the differential driving device, a specific example: can be realized by adopting a mode of matching a screw with a nut seat.
Further, when each part of the suspension structure of the suspension system includes at least two stages of suspensions, the primary suspension is connected to the intermediate support member, the primary suspension has a pre-compression structure for providing an initial pressure to the elastic member thereof, and the final suspension is mounted on the frame.
Further, the spring element stiffness of each stage suspension is sequentially reduced.
Further, a swing bearing is arranged at the joint of the guide structure of the primary suspension and the middle support piece, the swing bearing can be a self-aligning ball bearing or a joint bearing, and when the guide mechanism is realized by matching a sliding element with the guide shaft, the guide shaft passes through the swing bearing to allow the guide shaft to have a certain swing angle relative to the middle support piece; when the guide mechanism is realized by adopting the matching of the guide rail and the sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the swinging bearing through a cylindrical shaft structure (the tail end of the guide mechanism can be provided with the cylindrical shaft structure or can be matched with the swinging bearing through an adapter of the cylindrical shaft structure); preferably, the shaft end of the guide shaft is in threaded connection with a limiting block, and the limiting block is matched with the slotted hole of the middle support piece to limit the guide shaft to swing in one direction;
The guiding structure of the secondary-to-final suspension consists of a sliding element (preferably a linear bearing with adjustable center) and a guiding shaft, wherein the guiding shaft passes through the sliding element and can swing at a small angle in the sliding element;
the transition structure consists of a guide rail, ball plungers and a sliding block, wherein a plurality of ball plungers are embedded into the sliding block, the ball heads of the ball plungers are contacted with the bottom surface of the guide rail, and the ball heads of the ball plungers can be compressed, so that the transition structure can move up and down to guide and also allow a certain pitch angle.
Further, a stop structure is arranged on the middle support piece, a fan-shaped structure is arranged on the rotating assembly, and when the fan-shaped structure rotates to the stop structure, the rotating assembly stops moving to realize angle limiting; zero position dividing lines are arranged on the middle supporting piece and the rotating component and used for adjusting zero positions.
Further, an angle sensor is arranged in the rotating assembly, and the rotating angle of the whole differential driving device is measured and fed back in real time; and the zero position of the angle sensor is adjusted according to the mechanical zero position, so that the rotation control precision is improved.
Further, a load plate is mounted on top of the swivel assembly.
Further, the rotating assembly is connected with the middle support piece through two angular contact bearings, so that high bearing capacity and rotating movement of the rotating assembly are achieved.
Further, the device also comprises an electric box arranged at the front and the rear of the frame, and a controller, a driver and a battery can be arranged in the electric box, so that independent driving is realized.
A differential-driven wheeled robot comprises at least one differential driving device.
The beneficial effects of the invention are as follows: according to the differential driving device, if the non-independent suspension is only a primary suspension, the spring can compress a certain amount after loading, and the driving wheel can realize jumping up and down in the movement process, so that the differential driving device is suitable for ground unevenness and obstacle surmounting; if the secondary suspension is added, the spring of the primary suspension locks an initial pressure, the spring of the secondary suspension does not change or changes less due to the initial pressure, and the spring of the secondary suspension has a certain compression amount, so that the secondary suspension can realize the jumping of the driving wheel in the process of loading movement, and the primary suspension realizes the jumping of the driving wheel; if the multi-stage suspension is added, the rigidity of the springs of different stages of suspensions is different to a certain extent, and the multi-stage suspension is combined to realize the jumping-up and the jumping-down actions of the driving wheel. The load of the multi-stage suspension structure can be transferred in a grading manner, the deformation of the elastic elements with different rigidities is different, and the adaptability and obstacle surmounting performance of the wheel to the ground unevenness are improved according to the different deformation; the multi-stage suspension structure is adopted, so that the whole height of the wheeled robot can be kept unchanged or slightly changed under the condition of no load and heavy load, and the wheeled robot is beneficial to directly submerging lower-bottom equipment such as a car, a tool car and the like. The differential driving device can ensure that the driving wheel is effectively contacted with the ground on the road surfaces such as uneven, small barriers, sloping factories, parking lots and the like under the condition of high bearing; in particular to an ultrathin wheeled robot.
Drawings
FIG. 1 is a schematic diagram of a differential driving device 1 of a non-independent suspension according to the present invention;
FIG. 2 is a top view of a differential drive assembly for a non-independent suspension of the present invention;
FIG. 3 is a schematic view of a differential driving device 2 of a non-independent suspension according to the present invention;
FIG. 4 is a schematic diagram of a non-independent suspension according to the present invention;
FIG. 5 is a view 1 of the suspension structure of the present invention;
FIG. 6 is a view 2 of the suspension structure of the present invention;
FIG. 7 is a cross-sectional view of a differential drive of the non-independent suspension of the present invention;
FIG. 8 is a partial cross-sectional view of a secondary suspension of the present invention;
FIG. 9 is a schematic view of a track structure of the present invention;
FIG. 10 is a schematic view of a slider structure according to the present invention;
FIG. 11 is a schematic view of a rotating shaft member according to the present invention;
In the figure, a frame 1, a driving wheel assembly 2, an intermediate support 3, a rotating assembly 4, an electric box 5, a driving wheel 6, a transmission mechanism 7, a motor 8, a speed reducer 9, a suspension structure 10, a primary suspension 11, a secondary suspension 12, a transition structure 13, a screw 14, a compression member 15, a primary guide mechanism 16, a suspension support seat 17, a stopper 18, a swing bearing 19, a nut seat 20, a guide rail 21, a slider 22, a secondary guide mechanism 23, a primary spring 24, a secondary spring 25, a threaded hole 26, a rotating shaft member 27, a coupling member 28, an angular contact bearing 29, an absolute encoder 30, a stopper structure 31, a connecting member 32, a zero score line 33, a fan structure 34, a positioning pin 35, and an end surface fixing member 36.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
As shown in fig. 1 and 2, the differential driving device of the non-independent suspension provided in this embodiment includes a frame 1, two independent driving wheel assemblies 2, an intermediate support member 3 and a rotating assembly 4; the driving wheel assemblies 2 are arranged on two sides of the frame 1; the middle support 3 is mounted on the frame 1 through a suspension system, and the rotating assembly 4 is rotatably connected to the middle support 3; the front and rear of the frame 1 are provided with an electric box 5, and a controller, a driver and a battery can be arranged in the electric box 5.
As shown in fig. 3, the driving wheel assembly 2 comprises a driving wheel 6, a transmission mechanism 7, a motor 8 and a speed reducer 9, wherein the two driving wheels 6 are respectively arranged at two ends of the frame 1; the transmission mechanism 7 adopts a gear transmission mode, the gear set consists of three gears, namely a driving gear, an intermediate gear and a driven gear, which are meshed in sequence, and the driving gear is connected with an output shaft of the speed reducer 9 through keys and is supported by a bearing; the driven gear is connected with the driving wheel shaft and is supported by the back-to-back angular contact bearing.
As shown in fig. 4, the suspension system adopts a non-independent suspension structure, and comprises two parts of suspension structures 10 respectively matched with two driving wheel assemblies, wherein each part of suspension structure 10 comprises a primary suspension 11 and a secondary suspension 12 as shown in fig. 5 and 6, the two primary suspensions 11 are fixedly connected with the middle supporting piece 3 as shown in the suspension section views of fig. 7 and 8, a transition structure 13 with a guiding function is arranged between the primary suspension 11 and the secondary suspension 12, and the secondary suspension 12 is arranged on the frame 1.
The primary suspension 11 comprises a primary spring 24 and two primary guide mechanisms 16, wherein the primary spring 24 adopts a die spring and is internally arranged in a suspension support seat 17, a compression piece 15 is used for compressing the primary spring 24, the two primary guide mechanisms 16 are respectively combined by adopting a linear bearing and a guide shaft, the linear bearing of the primary guide mechanism 16 is arranged on the suspension support seat 17, the guide shaft of the primary guide mechanism 16 passes through a swing bearing 19, the swing bearing 19 adopts a aligning ball bearing, the swing bearing 19 is arranged at the joint of the compression piece 15 and the middle support piece 3, a limiting block 18 is in threaded connection with the shaft end of the guide shaft, and the limiting block 18 is matched with a slotted hole of the middle support piece 3, so that the guide shaft is allowed to have a certain swing angle relative to the middle support piece 3 and swing in one direction only; the primary suspension 11 can pretension the primary spring 24 through the screw 14 and the nut seat 20 to adjust the initial height of the differential drive.
The secondary suspension 12 comprises a secondary spring 25 and two secondary guide mechanisms 23, wherein the secondary spring 25 adopts a die spring, the two secondary guide mechanisms 23 are both combined by adopting an adjustable linear bearing and a guide shaft, and the guide shaft penetrates through the linear bearing and can swing in the linear bearing at a small angle, so that the guide shaft is allowed to swing at a small angle relative to the frame 1.
The transition structure 13 comprises a guide rail 21 and a slide block 22, the two guide rails 21 are arranged on the frame 1, the slide block 22 is arranged on the suspension supporting seat 17, as shown in fig. 9 and 10, a plurality of ball plungers can be arranged in threaded holes 26 on the slide block 22, the ball heads of the ball plungers are contacted with the bottom surface of the guide rail 21, the ball heads of the ball plungers can be compressed, and the transition structure 13 can not only move up and down to guide, but also allow a certain pitch angle.
The spring rate of the primary suspension 11 is higher than that of the secondary suspension 12; the weight of the loaded load can be transferred to the secondary suspension through the primary suspension, the spring of the primary suspension can lock an initial pressure, the spring does not change or changes slightly, the spring of the secondary suspension has a certain compression amount, the secondary suspension can realize the jump of the driving wheel in the movement process, and the primary suspension realizes the jump operation on the driving wheel; the two driving wheels swing transversely through the non-independent suspension system, and adapt to ground unevenness and obstacle surmounting.
As shown in fig. 7, the rotating assembly 4 includes a rotating shaft member 27, which is mounted on the intermediate support member 3 through two angular contact bearings 29, the built-in absolute encoder 30 is fixedly connected with the rotating shaft member 27 through a connecting member 32, an output shaft of the absolute encoder 30 is connected with a coupling member 28, the other end of the coupling member 28 is fixedly connected with an end surface fixing member 36, and the end surface fixing member 36 is fixedly connected to the intermediate support member 3, so that the rotating assembly 4 can rotate relative to the intermediate support member 3, and the absolute encoder 30 measures and feeds back a rotation angle.
As shown in fig. 11, the rotating shaft member 27 is provided with a zero position score line 33, a fan-shaped structure 34 with 60 degrees in the radial direction and a positioning pin 35; as shown in fig. 2, the intermediate support member 3 is provided with a stop structure 31, and when the fan-shaped structure 34 rotates to the stop structure 31, the rotation shaft member 27 stops moving, thereby realizing angle limitation; zero position dividing lines 33 are arranged on the middle support piece 3 and the rotating assembly 4, and the zero position of the absolute encoder can be calibrated according to the zero position dividing lines, so that the rotation control precision is improved; a locating pin 35 is provided on the top of the rotating shaft member 27 to facilitate the installation of the robot loading plate.
The present invention is not limited to the above embodiments, and those skilled in the art can practice the present invention using other various embodiments in light of the present disclosure. Therefore, the design structure and thought of the invention are adopted, and some simple changes or modified designs are made, which fall into the protection scope of the invention.
Claims (8)
1. The differential driving device of the non-independent suspension is characterized by comprising a frame, two independent driving wheel assemblies, a middle supporting piece and a rotating assembly; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the intermediate support is mounted on the frame by a suspension system; the rotating component is rotationally connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure and comprises two parts of suspension structures which are respectively matched with two driving wheel assemblies, each part of suspension structure comprises at least one stage of suspension, the two stages of suspension are fixedly connected with a middle supporting piece, and a transition structure with a guiding function is arranged between two adjacent stages of suspension;
The suspension comprises an elastic element and at least one guide mechanism, the up-and-down telescopic movement is realized through the guide mechanism, and the guide mechanism is realized through the cooperation of a sliding element and a guide shaft or through the cooperation of a guide rail and a sliding block; the connection part of the guide structure of the primary suspension and the middle support piece is provided with a swing bearing, and when the guide mechanism is realized by adopting the matching of the sliding element and the guide shaft, the guide shaft passes through the swing bearing to allow the guide shaft to have a certain swing angle relative to the middle support piece; when the guide mechanism is realized by adopting the matching of the guide rail and the sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the swing bearing through a cylindrical shaft structure;
the guide structure of the second-stage to final-stage suspension consists of a sliding element capable of aligning and a guide shaft, wherein the guide shaft penetrates through the sliding element capable of aligning and can swing at a small angle in the sliding element;
The transition structure consists of a guide rail, ball plungers and a sliding block, wherein a plurality of ball plungers are embedded into the sliding block, and the ball of each ball plunger is contacted with the bottom surface of the guide rail.
2. The differential drive device of a non-independent suspension according to claim 1, wherein when each part of the suspension structure of the suspension system has only one stage of suspension, the suspension has a pre-tightening structure capable of pre-tightening the elastic element to adjust the initial height of the differential drive device;
when each part of the suspension structure of the suspension system comprises at least two stages of suspensions, the primary suspension is connected with the middle supporting piece, the primary suspension is provided with a pre-pressing structure for providing initial pressure for the elastic element of the primary suspension, and the final suspension is mounted on the frame.
3. The differential drive device of a dependent suspension according to claim 1, wherein the stiffness of the elastic members of each stage suspension is sequentially lowered.
4. The differential drive of a non-independent suspension according to claim 1, wherein the transition structure is implemented by a rail and a slider cooperating.
5. The differential drive device of a non-independent suspension according to claim 1, wherein a stop structure is arranged on the intermediate support member, a fan-shaped structure is arranged on the rotating assembly, and when the fan-shaped structure rotates to the stop structure, the rotating assembly stops moving to realize angle limiting; zero position dividing lines are arranged on the middle supporting piece and the rotating component and used for adjusting zero positions.
6. The differential driving device of a non-independent suspension according to claim 1, wherein the driving wheel assembly comprises driving wheels, a transmission mechanism, a motor and a speed reducer, the two driving wheels are respectively driven by the independent motor and the speed reducer through the transmission mechanism, and the differential driving device can realize omnidirectional movements such as straight running, transverse moving, rotation and the like by controlling the running speeds of the two driving wheels.
7. A differential drive arrangement for a non-independent suspension according to claim 1, wherein the top of the rotating assembly is provided with a load plate; an angle sensor is arranged in the rotating assembly, and the rotating angle of the whole differential driving device is measured and fed back in real time; the rotating assembly is connected with the middle supporting piece through two angular contact bearings, so that high bearing capacity and rotating movement of the rotating assembly are realized.
8. A differentially driven wheeled robot comprising at least one differential drive as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911424818.5A CN110949120B (en) | 2019-12-31 | 2019-12-31 | Differential driving device of non-independent suspension |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911424818.5A CN110949120B (en) | 2019-12-31 | 2019-12-31 | Differential driving device of non-independent suspension |
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| CN110949120A CN110949120A (en) | 2020-04-03 |
| CN110949120B true CN110949120B (en) | 2024-04-19 |
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| CN201911424818.5A Active CN110949120B (en) | 2019-12-31 | 2019-12-31 | Differential driving device of non-independent suspension |
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| CN111547158B (en) * | 2020-04-30 | 2021-05-07 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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| CN110143107A (en) * | 2019-05-28 | 2019-08-20 | 西南交通大学 | A kind of hybrid second level suspension system of new vehicle |
| CN211710618U (en) * | 2019-12-31 | 2020-10-20 | 杭州极木科技有限公司 | Differential driving device of non-independent suspension and differential-driven wheeled robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178357A (en) * | 1989-08-16 | 1993-01-12 | Platus David L | Vibration isolation system |
| WO2016015759A1 (en) * | 2014-07-30 | 2016-02-04 | Gravity Transport System S.A. | Rail vehicle braking system |
| CN107757290A (en) * | 2017-10-31 | 2018-03-06 | 杭州极木科技有限公司 | A kind of adjustable draft hitch of heavily loaded wheeled robot |
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| CN107914532A (en) * | 2017-12-06 | 2018-04-17 | 上海木爷机器人技术有限公司 | A kind of AGV and its suspension frame structure |
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| CN211710618U (en) * | 2019-12-31 | 2020-10-20 | 杭州极木科技有限公司 | Differential driving device of non-independent suspension and differential-driven wheeled robot |
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| CN110949120A (en) | 2020-04-03 |
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