CN111550105A - Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions - Google Patents
Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions Download PDFInfo
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- CN111550105A CN111550105A CN202010342854.3A CN202010342854A CN111550105A CN 111550105 A CN111550105 A CN 111550105A CN 202010342854 A CN202010342854 A CN 202010342854A CN 111550105 A CN111550105 A CN 111550105A
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- steering
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a coaxial two-wheel automobile carrying robot moving in all directions horizontally, which comprises a carrying bottom plate, a walking device, a control assembly and a plurality of universal driven wheels, wherein the control assembly is electrically connected with the walking device, the walking device and the plurality of universal driven wheels are arranged at the bottom of the carrying bottom plate, the walking device comprises a steering assembly and two driving wheel assemblies, the steering assembly comprises a steering motor and a steering shaft, the steering motor is fixed at the bottom of the carrying bottom plate, an output shaft of the steering motor is fixedly connected with the middle part of the steering shaft, the two driving wheel assemblies are symmetrically arranged at the two ends of the steering shaft, when the carrying robot is used, the steering motor drives the steering shaft to rotate in the horizontal direction, the steering shaft drives the two driving wheel assemblies to coaxially rotate, and the driving wheel assemblies drive. Compared with the prior art, the invention has the advantages of capability of moving to each angle in the horizontal direction, high parking maneuverability and high flexibility.
Description
Technical Field
The invention relates to the field of transfer robots, in particular to a coaxial double-wheel automobile transfer robot capable of moving horizontally in all directions.
Background
With the rapid development of economy, the requirements of people on material life are continuously improved, automobiles become general transportation tools to walk into the life of people, in recent years, the automobile industry is vigorously developed, the automobile holding amount is continuously increased, the number of parking spaces is small, and the difficulty in parking is also a problem which is urgently needed to be considered in urban development. The intelligent parking mode can effectively solve the problems and is developing steadily.
The intelligent parking mode mainly comprises an automatic parking mode and an intelligent garage, the automatic parking mainly depends on an automatic parking system of a vehicle, the automatic parking system is mainly assembled on a high-end luxury vehicle at present, the cost is high, the technology is not mature, and the automatic parking system is difficult to popularize in common vehicles; the intelligent garage mainly depends on the automobile carrying robot to carry the vehicle to the garage, and intelligent parking is achieved. At present, the automobile carrying robot mainly comprises three types, namely a comb tooth type automobile carrying robot, an automobile carrying plate type automobile carrying robot and a tire clamping type automobile carrying robot, but the existing automobile carrying robot is complex in structure and poor in flexibility of turning and moving.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a coaxial two-wheel automobile transfer robot capable of moving horizontally and omnidirectionally.
The purpose of the invention can be realized by the following technical scheme:
a coaxial two-wheel automobile transfer robot moving horizontally in all directions comprises a transfer bottom plate, a walking device, a control assembly and a plurality of universal driven wheels, the control component is electrically connected with the walking device, the walking device and the universal driven wheels are arranged at the bottom of the carrying bottom plate, the walking device comprises a steering component and two driving wheel components, the steering component comprises a steering motor and a steering shaft, the steering motor is fixed at the bottom of the carrying bottom plate, an output shaft of the steering motor is fixedly connected with the middle part of the steering shaft, the two driving wheel components are symmetrically arranged at the two ends of the steering shaft, when in use, the steering motor drives the steering shaft to rotate in the horizontal direction, the steering shaft drives the two driving wheel assemblies to coaxially rotate, and the driving wheel assemblies operate to drive the carrying bottom plate to move.
Preferably, the steering assembly further comprises a steering fixing seat, the top of the steering fixing seat is fixedly connected with the carrying bottom plate, the steering fixing seat is arranged around the steering motor in the vertical direction, the steering shaft comprises a steering connecting seat in an inverted T shape, the steering connecting seat is fixed in the middle of the steering shaft, the top end of the steering connecting seat penetrates through the steering fixing seat and forms a rotating pair with the steering fixing seat, and the output shaft of the steering motor is fixedly connected with the top end of the steering connecting seat.
Preferably, the steering shaft further comprises two steering connecting shafts, and two ends of the bottom of the steering connecting seat are fixedly connected with the two steering connecting shafts respectively.
Preferably, the driving wheel assembly comprises a driving wheel, a braking subassembly and a driving subassembly, the driving subassembly is fixedly connected with the end part of the steering shaft, the driving wheel is fixedly connected with an output shaft of the driving subassembly, the braking subassembly is fixedly arranged on the driving subassembly, and the output shaft of the braking subassembly limits the rotation of the output shaft of the driving subassembly.
Preferably, the driving subassembly comprises a driving motor and a driving motor reducer, the driving motor reducer is fixedly connected with the end part of the steering shaft, the driving motor is fixedly connected with the driving motor reducer, an output shaft of the driving motor is fixedly connected with an input shaft of the driving motor reducer, and an output shaft of the driving motor reducer is fixedly connected with the driving wheel.
Preferably, the brake subassembly comprises a brake disc, a brake substrate, and a brake motor, a brake motor reducer, a screw, a ball nut and a brake caliper which are sequentially arranged along a direction away from the drive subassembly, the brake disc is arranged on an output shaft of the drive subassembly, the end part of the brake substrate is fixedly connected with the drive subassembly, the brake motor is fixedly connected with the drive subassembly, an output end of the brake motor is fixedly connected with an input end of the brake motor reducer, an output shaft of the brake motor reducer is fixedly connected with the screw, the ball nut is sleeved at the tail end of the screw, the brake caliper is arranged adjacent to the brake disc, the top end of the brake caliper is fixedly connected with the brake substrate, and the tail end of the ball nut is fixedly connected with the front end of the brake caliper,
during braking, the brake motor operates to drive the screw rod to rotate, the ball nut moves towards the far end of the screw rod to squeeze the brake caliper, and the brake caliper is in contact friction with the brake disc to limit the rotation of the output shaft of the driving subassembly.
Preferably, the brake motor reducer is a worm gear reducer.
Preferably, the driving motor is a dual-shaft driving motor, the driving motor comprises a first output shaft and a second output shaft, the first output shaft is fixedly connected with an input shaft of the driving motor reducer, and an output shaft of the brake subassembly limits rotation of the second output shaft.
Preferably, the driving motor reducer is one of a gear transmission reducer, a planetary gear reducer, a belt transmission reducer and a chain transmission reducer.
Preferably, the control assembly comprises a navigation positioner and a main controller, and the navigation positioner, the driving wheel assembly and the steering assembly are respectively connected with the main controller.
Preferably, the navigation locator adopts one of laser navigation, electromagnetic navigation and inertial navigation modes.
Preferably, the transfer robot further comprises a power supply assembly, and the power supply assembly is respectively connected with the walking device and the control assembly.
Preferably, the universal driven wheel is a parking-type universal wheel.
Compared with the prior art, the invention has the following advantages:
(1) the steering assembly of the walking device drives the driving wheel assembly to rotate 360 degrees in the horizontal direction through the matching of the steering motor and the steering shaft, so that the carrying robot disclosed by the invention realizes the function of moving in all directions in the horizontal plane, and the maneuverability and the flexibility are high;
(2) the steering motor, the brake motor and the driving motor are output outwards through the corresponding speed reducers, the speed reducers can be selected according to specific load and space requirements to achieve the best performance, and the equipment space is saved;
(3) the brake subassembly of the invention can effectively adjust the response speed and the corresponding brake strength of the brake by matching the screw rod, the ball nut and the brake caliper for braking, thereby improving the running accuracy of the transfer robot;
(4) the invention adopts the parking type universal wheels, which is convenient for the stable parking of the carrying robot when the carrying robot stops using.
Drawings
FIG. 1 is a bottom view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is an isometric view of the present invention;
FIG. 5 is a schematic view of a half-side structure of the walking device of the present invention;
FIG. 6 is a bottom view of the walking device of the present invention;
FIG. 7 is a right side view of the walking device of the present invention;
fig. 8 is an isometric view of the walking device of the present invention.
The device comprises a universal driven wheel 1, a universal driven wheel 2, a walking device 3, a carrying base plate 4, a navigation positioner 5, a main controller 6, a power supply assembly 201, a steering connecting seat 202, a brake disc 203, a driving motor 204, a driving motor reducer 205, a driving wheel 206, a brake motor 207, a brake motor reducer 208, a lead screw 209, a ball nut 210, a brake caliper 211, a brake substrate 212, a steering connecting shaft 213, a steering fixing seat 214 and a steering motor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
As shown in fig. 2, a coaxial two-wheel automobile transfer robot capable of moving horizontally in all directions, comprises a transfer base plate 3, a traveling device 2, a control assembly, a power supply assembly 6 and a plurality of universal driven wheels, wherein the traveling device 2 is electrically connected with the control assembly, the traveling device 2 comprises a steering assembly and two driving wheel assemblies, the traveling device 2 and the plurality of universal driven wheels 1 are arranged at the bottom of the transfer base plate 3, the control assembly and the power supply assembly 6 are arranged on the transfer base plate 3, and when the transfer robot is used, an automobile is parked on the transfer base plate 3.
As shown in fig. 5 to 8, specifically, in this embodiment, the steering assembly includes a steering motor 214, a steering fixing seat 213 and two steering connecting shafts 212, the steering motor 214 is fixed to the bottom of the carrying bottom plate 3, the top of the steering fixing seat 213 is fixedly connected to the carrying bottom plate 3, the steering fixing seat 213 is disposed around the steering motor 214 along the vertical direction, the steering connecting seat 201 is in an inverted T shape, two ends of the bottom of the steering connecting seat 201 are respectively and fixedly connected to the two steering connecting shafts 212, the top end of the steering connecting seat 201 penetrates through the steering fixing seat 213 and forms a revolute pair with the steering fixing seat 213, and an output shaft of the steering motor 214 is fixedly connected to the top end of the steering.
Further, when the present invention is implemented specifically, the steering fixing seat 213 is U-shaped, the top of the steering fixing seat 213 is fixedly connected to the carrying bottom plate 3 through bolts and nuts, the bottom of the steering fixing seat 213 is provided with bearing holes, rotating bearings are arranged in the bearing holes, the top of the rotating motor 214 is fixedly connected to the carrying bottom plate 3, the steering motor 214 is located in the steering fixing seat 213, the top of the steering connecting seat 201 is fixedly connected to the inner ring of the bearing, and the output shaft of the rotating motor 214 is fixedly connected to the top of the steering connecting seat 201.
Further, as shown in fig. 5, the steering connecting shaft 212 is bent upward in a direction away from the steering connecting base 201, so as to fix the driving wheel assembly.
Specifically, in this embodiment, the driving wheel assembly includes a driving wheel 205, a braking subassembly and a driving subassembly, the driving subassembly is fixedly connected to the end of the steering shaft, the driving wheel 205 is fixedly connected to the output shaft of the driving subassembly, and the braking subassembly is fixedly disposed on the driving subassembly.
As shown in fig. 5 to 8, further, the driving subassembly includes a driving motor 203 and a driving motor reducer 204, the driving motor reducer 204 is fixedly connected to the end of the steering connecting shaft 212, the driving motor 203 is fixedly connected to the driving motor reducer 204, the driving motor 203 is a dual-shaft driving motor, the driving motor 203 includes a first output shaft and a second output shaft, the first output shaft is fixedly connected to the input shaft of the driving motor reducer 204, and the output shaft of the driving motor reducer 204 is fixedly connected to the driving wheel 205; the brake subassembly includes brake disc 202, brake base plate 211 and the brake motor 206 that sets gradually along keeping away from the drive subassembly direction, brake motor reducer 207, lead screw 208, ball nut 209 and brake caliper 210, brake disc 202 is located on the second output shaft, the tip and the drive subassembly fixed connection of brake base plate 211, brake motor 206 and drive subassembly fixed connection, the output of brake motor 206 and the input fixed connection of brake motor reducer 207, the output shaft and the lead screw 208 fixed connection of brake motor reducer 207, ball nut 209 overlaps the terminal of locating lead screw 208, brake caliper 210 sets up with brake disc 202 is adjacent, the top and the brake base plate 211 fixed connection of brake caliper 210, the terminal and the front end fixed connection of brake caliper 210 of ball nut 209.
In this embodiment, the driving motor reducer 204 is one of a gear transmission reducer, a planetary gear reducer, a belt transmission reducer, and a chain transmission reducer, specifically, the driving motor reducer 204 of this embodiment is a gear transmission reducer, and the braking motor reducer 207 is a worm gear reducer.
As shown in fig. 4, the control assembly in this embodiment includes a navigation positioner 4 and a main controller 5, the navigation positioner 4, a driving wheel assembly and a steering assembly are respectively connected to the main controller 5, a power supply assembly 6 is respectively connected to the navigation positioner 4, the main controller 5, the driving wheel assembly and the steering assembly, and the navigation positioner adopts one of laser navigation, electromagnetic navigation and inertial navigation.
The universal driven wheel 1 is a parking-type universal wheel, which is convenient for the stable parking of the carrying robot when the carrying robot stops using.
As shown in fig. 1 to 3, in the present embodiment, for convenience of use, four universal driven wheels 1 are disposed at the bottom of the conveying bottom plate 3, and are respectively disposed at four corners of the conveying bottom plate 3, and a traveling device 2 is disposed at the center of the bottom of the conveying bottom plate 3.
The action mode of the coaxial two-wheel automobile carrying robot moving in the horizontal all directions in the use process of the invention is as follows: the rotating component rotates to drive the driving wheel component to rotate, the driving wheel component operates to drive the carrying bottom plate 3 to move, and the carrying bottom plate 3 does not rotate in the process. The parking path planned by the main controller 5 is combined with the posture and position information of the transfer robot given by the navigation positioner 4 to control the running device 2 to run, and in the parking process, the main controller 4 adjusts command signals sent to the driving motor 203, the steering motor 214 and the braking motor 206 aiming at reducing the deviation between the actual parking path and the reserved path, and finally transfers the vehicle from the starting position to the target parking space.
Specifically, when the transfer robot of the present invention operates, the driving wheel assembly is responsible for the movement of the transfer robot, the rotating assembly is responsible for adjusting the moving direction of the transfer robot, and when the driving wheel assembly operates, the driving motor 203 drives the driving wheel 205 to rotate through the driving motor reducer 204; when the transfer robot performs deceleration braking or parking braking, the brake motor 206 operates to drive the screw 208 to rotate, the screw 208 rotates to enable the ball nut 209 to move towards the tail end of the screw 208, the tail end of the ball nut 209 presses the brake caliper 210, the brake caliper 210 is in contact friction with the brake disc 202, and the brake disc 202 limits the rotation of the drive motor 203 to realize braking; when the transfer robot needs to turn, the steering motor 214 operates to drive the steering shaft and the driving wheel assembly to rotate, so that the transfer robot turns. The transfer robot can move in any direction in the horizontal direction, and has strong maneuverability and flexibility.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (10)
1. The utility model provides a coaxial double round car transfer robot of omnidirectional removal of level, a serial communication port, transfer robot including carrying bottom plate (3), running gear (2), control assembly and a plurality of universal follow driving wheel (1), control assembly be connected with running gear (2) electricity, running gear (2) and a plurality of universal follow driving wheel (1) locate the bottom of carrying bottom plate (3), running gear (2) including turning to subassembly and two driving wheel subassemblies, the subassembly that turns to including steering motor (214) and steering spindle, steering motor (214) be fixed in the bottom of carrying bottom plate (3), the output shaft of steering motor (214) and the middle part fixed connection of steering spindle, the both ends symmetry of steering spindle set up two driving wheel subassemblies, steering motor (214) drive the steering spindle and rotate at the horizontal direction, the steering shaft drives the two driving wheel components to coaxially rotate.
2. The coaxial two-wheeled automobile transfer robot that a level omnidirectional removed of claim 1, characterized in that, the subassembly that turns to still turn to fixing base (213), turn to the top and the transport bottom plate (3) fixed connection of fixing base (213), and turn to fixing base (213) along vertical direction around turning to motor (214) setting, the steering spindle including being the turning to connecting seat (201) of type of falling T, turning to the middle part that connecting seat (201) are fixed in the steering spindle, the top that turns to connecting seat (201) pass and turn to fixing base (213) and form the revolute pair with turning to fixing base (213), the output shaft that turns to motor (214) with turn to the top fixed connection of connecting seat (201).
3. The coaxial two-wheel automobile transfer robot capable of moving horizontally in all directions as claimed in claim 2, wherein the steering shaft further comprises two steering connecting shafts (212), and two ends of the bottom of the steering connecting base (201) are respectively fixedly connected with the two steering connecting shafts (212).
4. A horizontal omni-directional mobile co-axial two-wheeled vehicle transfer robot as claimed in claim 1 wherein said drive wheel assembly comprises a drive wheel (205), a brake subassembly and a drive subassembly, said drive subassembly being fixedly connected to the end of the steering shaft, said drive wheel (205) being fixedly connected to the output shaft of the drive subassembly, said brake subassembly being fixedly mounted to the drive subassembly, said output shaft of the brake subassembly limiting the rotation of said output shaft of the drive subassembly.
5. A horizontal omni-directional mobile co-axial two-wheeled vehicle transfer robot as claimed in claim 4, wherein said driving subassembly comprises a driving motor (203), a driving motor reducer (204), said driving motor reducer (204) is fixedly connected with the end of the steering shaft, said driving motor (203) is fixedly connected with said driving motor reducer (204), the output shaft of said driving motor (203) is fixedly connected with the input shaft of said driving motor reducer (204), and the output shaft of said driving motor reducer (204) is fixedly connected with the driving wheel (205).
6. The coaxial two-wheel automobile transfer robot capable of moving horizontally in all directions as claimed in claim 4, wherein the brake subassembly comprises a brake disc (202), a brake base plate (211), and a brake motor (206), a brake motor reducer (207), a screw (208), a ball nut (209) and a brake caliper (210) which are sequentially arranged along a direction away from the drive subassembly, the brake disc (202) is arranged on an output shaft of the drive subassembly, an end of the brake base plate (211) is fixedly connected with the drive subassembly, the brake motor (206) is fixedly connected with the drive subassembly, an output end of the brake motor (206) is fixedly connected with an input end of the brake motor reducer (207), an output shaft of the brake motor reducer (207) is fixedly connected with the screw (208), and the ball nut (209) is sleeved at a tail end of the screw (208), the brake caliper (210) is arranged adjacent to the brake disc (202), the top end of the brake caliper (210) is fixedly connected with a brake base plate (211), the tail end of the ball nut (209) is fixedly connected with the front end of the brake caliper (210),
when braking, the brake motor (206) operates to drive the screw rod (208) to rotate, the ball nut (209) moves towards the far end of the screw rod (208) to press the brake caliper (210), and the brake caliper (210) is in contact friction with the brake disc (202) to limit the rotation of the output shaft of the drive subassembly.
7. A horizontal omni-directional mobile co-axial two-wheeled vehicle transfer robot as claimed in claim 5, wherein said drive motor (203) is a dual-axis drive motor, said drive motor (203) includes a first output shaft and a second output shaft, said first output shaft is fixedly connected to the input shaft of the drive motor reducer (204), and the output shaft of the brake subassembly restricts the rotation of the second output shaft.
8. A horizontal omni-directional mobile co-axial two-wheeled vehicle handling robot as claimed in claim 1, wherein said control assembly comprises a navigation positioner (4) and a main controller (5), said navigation positioner (4), said drive wheel assembly and said steering assembly being connected to said main controller (5) respectively.
9. A horizontal omni-directional mobile co-axial two-wheeled vehicle transfer robot as claimed in claim 5, wherein said drive motor reducer (204) is one of a gear drive reducer, a planetary gear reducer, a belt drive reducer, and a chain drive reducer.
10. A horizontal omni-directional mobile co-axial two-wheeled vehicle handling robot as claimed in claim 1 wherein said driven universal wheels (1) are parking universal wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010342854.3A CN111550105A (en) | 2020-04-27 | 2020-04-27 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010342854.3A CN111550105A (en) | 2020-04-27 | 2020-04-27 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
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| Publication Number | Publication Date |
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| CN111550105A true CN111550105A (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010342854.3A Pending CN111550105A (en) | 2020-04-27 | 2020-04-27 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
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| CN (1) | CN111550105A (en) |
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| CN101761259B (en) * | 2010-01-07 | 2011-12-28 | 金华法 | Omnidirectional automobile carrying device |
| CN105761556A (en) * | 2016-05-04 | 2016-07-13 | 艾金富 | Novel construction-engineering-cost budget exercising device |
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| CN208117832U (en) * | 2018-04-13 | 2018-11-20 | 中山北京理工大学研究院 | A kind of robot body chassis |
| KR20190099757A (en) * | 2018-02-20 | 2019-08-28 | 강성환 | Automatic Guide Vehicle Steering Device |
| CN110395302A (en) * | 2019-06-28 | 2019-11-01 | 徐州新畅纺织有限公司 | Material carrier suitable for weaving |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
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2020
- 2020-04-27 CN CN202010342854.3A patent/CN111550105A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201041210Y (en) * | 2007-06-08 | 2008-03-26 | 江苏大学 | Vehicular electronic machine brake device |
| CN101761259B (en) * | 2010-01-07 | 2011-12-28 | 金华法 | Omnidirectional automobile carrying device |
| CN105761556A (en) * | 2016-05-04 | 2016-07-13 | 艾金富 | Novel construction-engineering-cost budget exercising device |
| CN105966175A (en) * | 2016-06-06 | 2016-09-28 | 成都天福创造机器人有限公司 | Steering driving wheel used for robot, robot movement chassis and robot |
| CN107161853A (en) * | 2017-06-20 | 2017-09-15 | 同济大学 | Cart walking mechanism |
| KR20190099757A (en) * | 2018-02-20 | 2019-08-28 | 강성환 | Automatic Guide Vehicle Steering Device |
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Application publication date: 20200818 |
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