CN111776108A - Omnidirectional mobile platform based on planet wheel - Google Patents
Omnidirectional mobile platform based on planet wheel Download PDFInfo
- Publication number
- CN111776108A CN111776108A CN202010731319.7A CN202010731319A CN111776108A CN 111776108 A CN111776108 A CN 111776108A CN 202010731319 A CN202010731319 A CN 202010731319A CN 111776108 A CN111776108 A CN 111776108A
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- block
- helical spring
- mounting
- planet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An omnidirectional mobile platform based on planet wheels. The novel solar energy collecting platform comprises a platform main body, an upper mounting plate, a first mounting block, an external cylindrical helical spring, a lower mounting plate, a central sun wheel, a planet wheel, a drawing box, an inner ring gear, a connecting frame, a second mounting block, an internal cylindrical helical spring, a driving shaft, a motor, a cylindrical mounting plate, a fixing shaft, a fixing disc, a fixing block, a sliding block, a battery and a controller. The invention has the following effects: the steering angle is directly controlled by using the motor, so that higher speed can be kept during steering. Can ensure that the star gear also can the steady operation under the too high condition of platform main part load, can not lead to the wheelset unsettled to can use under the environmental condition of various differences. Convenient maintenance is changed, and convenient to use is swift, can improve work efficiency. The system can be used for an AGV system and a robot motion system, can also be used as a mobile platform of a field chariot and a tank, and can also be used as a mobile platform of a lunar exploration vehicle and a mars exploration vehicle.
Description
Technical Field
The invention belongs to the technical field of mobile platforms, and particularly relates to an omnidirectional mobile platform based on a planet wheel.
Background
With the continuous improvement of the intelligent degree of the robot and the continuous expansion of the application field and functions, the wheel-type mobile robot has become the main direction of the research and development of the robot with the advantages of excellent moving reliability, excellent load bearing capacity and the like, and various mobile platforms such as an Automatic Guided Vehicle (AGV) are widely applied in the field of automation of manufacturing industry and in an automatic warehouse logistics system.
The existing aeroengine installation vehicle is manually aligned without an automatic auxiliary mechanism, so that the existing mobile platform wastes time and labor during operation, and the mechanical operation personnel have the problems of low working efficiency and the like during operation, which seriously affect the service performance of the mobile platform and cannot meet the high-quality and high-precision assembly requirements of modern large airplanes.
Disclosure of Invention
In order to solve the above problems, the present invention provides an omnidirectional mobile platform based on planet wheels.
In order to achieve the purpose, the omnidirectional moving platform based on the planet wheels comprises a platform main body, an upper mounting plate, a first mounting block, an external cylindrical helical spring, a lower mounting plate, a central sun wheel, the planet wheels, a pulling box, an inner ring gear, a connecting frame, a second mounting block, an internal cylindrical helical spring, a driving shaft, a motor, a cylindrical mounting plate, a fixed shaft, a fixed disc, a fixed block, a sliding block, a battery and a controller, wherein the central sun wheel is arranged on the platform main body; the platform main body is horizontally arranged, and an upper mounting plate is respectively arranged at the front part and the rear part of the bottom surface; the front and rear parts of the two sides of the bottom surface of each upper mounting plate are respectively provided with a first mounting block; the upper end of each external cylindrical helical spring is connected to one first mounting block, and the lower end of each external cylindrical helical spring is connected to the other first mounting block; a second mounting block is respectively mounted at two side parts of the outer end of the bottom surface of each upper mounting plate; the upper end of each internal cylindrical helical spring is connected to one second mounting block, and the lower end of each internal cylindrical helical spring is connected to the other second mounting block; the lower ends of all the first mounting blocks and the second mounting blocks at the lower ends of the external cylindrical helical spring and the internal cylindrical helical spring which are connected to each upper mounting plate are simultaneously connected to the surface of one lower mounting plate; the middle part of the surface of each lower mounting plate is respectively provided with two motors, and the output shaft of each motor is respectively connected with the inner end of a driving shaft positioned at the outer side; the four fixed disks are vertically arranged above two side parts of the two lower mounting plates in a pairwise parallel mode, a central hole penetrating through the driving shaft is formed in the central part, the outer side surface of the central hole is connected with the inner end of the connecting frame, and the outer end of the connecting frame is connected to the outer side surface of a cylindrical mounting plate which is vertically arranged and parallel to the fixed disks; the central part of each cylindrical mounting plate is provided with a mounting hole, and the outer side part of the outer surface of each cylindrical mounting plate is simultaneously connected with the inner ends of a plurality of fixed shafts arranged at intervals; each fixed shaft is provided with a planet wheel 7; the outer end of the driving shaft penetrates through the mounting hole in the cylindrical mounting plate and then is fixed in the central hole of the central sun gear; the outer gear teeth of the central sun gear are simultaneously meshed with the outer gear teeth of the plurality of planet gears; the inner side part of the inner ring gear is sleeved on the edge of the cylindrical mounting plate, and gear teeth at the outer side part are simultaneously meshed with outer gear teeth of a plurality of planet gears; two transverse fixing blocks are arranged in the middle of the bottom surface of the platform main body; the sliding block is arranged on the fixed block, and the bottom of the sliding block is fixedly provided with a drawing box; the battery and the controller are arranged in the drawing box, the controller is electrically connected with all the motors at the same time, and the battery is used for supplying power to the omnidirectional mobile platform.
The motor adopts a servo motor.
The outer surface of the inner ring gear is fixedly provided with the anti-slip strips at equal intervals, so that the inner ring gear can work conveniently under any ground condition.
The number of the fixed shafts is three, and the included angle between every two adjacent fixed shafts is 120 degrees.
The middle part of the bottom surface of the fixed block is inwards sunken to form a sliding groove with a T-shaped section, and the sliding block is also T-shaped and is arranged in the sliding groove.
The omnidirectional mobile platform based on the planet wheel has the following beneficial effects:
1. the steering angle is directly controlled by the motor, so that higher speed can be kept during steering, and the defect that the conventional omnidirectional trolley which uses Mecanum wheels for differential movement is lower in speed is overcome.
2. Can ensure that the star gear also can the steady operation under the too high condition of platform main part load, can not lead to the wheelset unsettled to can use under the environmental condition of various differences.
3. Convenient maintenance is changed, and convenient to use is swift, can improve work efficiency. The system can be used for an AGV system and a robot motion system, can also be used as a mobile platform of a field chariot and a tank, and can also be used as a mobile platform of a lunar exploration vehicle and a mars exploration vehicle.
Drawings
Fig. 1 is a perspective view of the overall structure of an omnidirectional mobile platform based on planet wheels, provided by the invention;
fig. 2 is a left view of the omnidirectional mobile platform based on the planet wheel provided by the invention;
fig. 3 is a front view of the omnidirectional mobile platform based on planet wheels provided by the invention;
fig. 4 is a schematic structural diagram of a cylindrical mounting plate and an upper part thereof in the omnidirectional mobile platform based on the planet wheel provided by the invention;
fig. 5 is a side view of a fixed disk in the omnidirectional mobile platform based on planet wheels provided by the invention;
fig. 6 is a front view of a cylindrical mounting plate in the omnidirectional mobile platform based on planet wheels provided by the invention;
fig. 7 is an enlarged view of a portion a in fig. 2.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-7, the omnidirectional mobile platform based on planet wheels provided by the invention comprises a platform main body 1, an upper mounting plate 2, a first mounting block 3, an external cylindrical helical spring 4, a lower mounting plate 5, a central sun wheel 6, planet wheels 7, a pull box 8, an inner ring gear 9, a connecting frame 10, a second mounting block 11, an internal cylindrical helical spring 12, a driving shaft 13, a motor 14, a cylindrical mounting plate 15, a fixed shaft 16, a fixed disc 17, a fixed block 19, a sliding block 20, a battery and a controller; wherein, the platform main body 1 is horizontally arranged, and the front part and the rear part of the bottom surface are respectively provided with an upper mounting plate 2; the front part and the rear part of the two sides of the bottom surface of each upper mounting plate 2 are respectively provided with a first mounting block 3; the upper end of each external cylindrical helical spring 4 is connected to one first mounting block 3, and the lower end of each external cylindrical helical spring is connected to the other first mounting block 3; two second mounting blocks 11 are respectively mounted at two side parts of the outer end of the bottom surface of each upper mounting plate 2; the upper end of each internal cylindrical helical spring 12 is connected to one second mounting block 11, and the lower end of each internal cylindrical helical spring is connected to the other second mounting block 11; the lower ends of all the first mounting blocks 3 and the second mounting blocks 11 connected to the lower ends of the outer cylindrical coil spring 4 and the inner cylindrical coil spring 12 on each upper mounting plate 2 are simultaneously connected to the surface of one lower mounting plate 5; the middle part of the surface of each lower mounting plate 5 is respectively provided with two motors 14, and the output shaft of each motor 14 is respectively connected with the inner end of a driving shaft 13 positioned at the outer side; the four fixed disks 17 are vertically arranged above two side parts of the two lower mounting plates 5 in a pairwise parallel mode, a central hole penetrating through the driving shaft 13 is formed in the central part, the outer side surface of the central hole is connected with the inner end of the connecting frame 10, and the outer end of the connecting frame 10 is connected to the outer side surface of a cylindrical mounting plate 15 which is vertically arranged and parallel to the fixed disks 17; a mounting hole 18 is formed in the center of each cylindrical mounting plate 15, and the outer side of the outer surface of each cylindrical mounting plate is connected with the inner ends of a plurality of fixed shafts 16 arranged at intervals; each fixed shaft 16 is provided with a planet wheel 7; the outer end of the driving shaft 13 penetrates through a mounting hole 18 on the cylindrical mounting plate 15 and then is fixed in a central hole of the central sun gear 6; the outer gear teeth of the central sun gear 6 are simultaneously meshed with the outer gear teeth of the plurality of planet gears 7; the inner side part of the inner ring gear 9 is sleeved on the edge of the cylindrical mounting plate 15, and the gear teeth of the outer side part are simultaneously meshed with the outer side gear teeth of the plurality of planet gears 7; two transverse fixing blocks 19 are arranged in the middle of the bottom surface of the platform main body 1; the sliding block 20 is arranged on the fixed block 19, and the bottom of the sliding block is fixedly provided with the drawing box 8; the battery and the controller are arranged in the drawing box 8, the controller is electrically connected with all the motors 14 at the same time, and the battery is used for supplying power to the omnidirectional mobile platform.
The motor 14 adopts a servo motor.
The outer surface of the inner ring gear 9 is fixedly provided with anti-slip strips at equal intervals, so that the inner ring gear 9 can work conveniently under any ground condition.
The number of the fixed shafts 16 is three, and the included angle between two adjacent fixed shafts 16 is 120 degrees.
The middle part of the bottom surface of the fixed block 19 is inwards sunken to form a sliding groove with a T-shaped section, and the sliding block 20 is also T-shaped in section, is arranged in the sliding groove and is convenient for pulling the drawing box 8 when needed.
The working principle and the using method of the omnidirectional mobile platform based on the planet wheel provided by the invention are explained as follows: firstly, a worker places a load on a platform main body 1 of the omnidirectional mobile platform; when the omnidirectional moving platform needs to be moved, the motor 14 is started under the control of the controller, so that the corresponding central sun wheel 6 is driven to rotate through the driving shaft 13, and then the planet wheel 7, the inner ring gear 9, the cylindrical mounting plate 15 and the connecting part thereof are driven to rotate together, and the omnidirectional moving platform is moved. The omnidirectional mobile platform can be caused to follow a predetermined trajectory in omnidirectional movement by controlling the angular velocities of the different motors 14 individually, and the speed can be maintained high while turning. When the omnidirectional moving platform moves, the load on the platform main body 1 can drive the first mounting block 3 to move downwards through the upper mounting plate 2, the first mounting block 3 can compress the external cylindrical helical spring 4 when moving downwards, at the moment, the platform main body 1 can also receive downward force in the motion, the platform main body 1 can also compress the internal cylindrical helical spring 12 downwards through the second mounting block 11, when the external cylindrical helical spring 4 and the internal cylindrical helical spring 12 are both compressed, the downward pressure of the platform main body 1 can be offset, the stable operation of the planet wheel 7 when the load of the platform main body 1 is too large can be ensured, and the suspension of the wheel set can not be caused. When the electric energy of the battery is exhausted or the controller needs to be maintained, the drawing box 8 only needs to be drawn out lightly, so that the maintenance and the battery replacement of the omnidirectional mobile platform are facilitated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an omnidirectional moving platform based on planet wheel which characterized in that: the omnidirectional moving platform based on the planet wheels comprises a platform main body (1), an upper mounting plate (2), a first mounting block (3), an external cylindrical helical spring (4), a lower mounting plate (5), a central sun wheel (6), the planet wheels (7), a drawing box (8), an inner ring gear (9), a connecting frame (10), a second mounting block (11), an internal cylindrical helical spring (12), a driving shaft (13), a motor (14), a cylindrical mounting plate (15), a fixing shaft (16), a fixing disc (17), a fixing block (19), a sliding block (20), a battery and a controller; wherein, the platform main body (1) is horizontally arranged, and the front part and the rear part of the bottom surface are respectively provided with an upper mounting plate (2); the front and rear parts of the two sides of the bottom surface of each upper mounting plate (2) are respectively provided with a first mounting block (3); the upper end of each external cylindrical helical spring (4) is connected to one first mounting block (3), and the lower end of each external cylindrical helical spring is connected to the other first mounting block (3); two second mounting blocks (11) are respectively mounted at two side parts of the outer end of the bottom surface of each upper mounting plate (2); the upper end of each internal cylindrical helical spring (12) is connected to one second mounting block (11), and the lower end of each internal cylindrical helical spring is connected to the other second mounting block (11); the lower ends of all the first mounting blocks (3) and the second mounting blocks (11) which are connected with the lower ends of the external cylindrical helical spring (4) and the internal cylindrical helical spring (12) on each upper mounting plate (2) are simultaneously connected on the surface of a lower mounting plate (5); the middle part of the surface of each lower mounting plate (5) is respectively provided with two motors (14), and the output shaft of each motor (14) is respectively connected with the inner end of a driving shaft (13) positioned at the outer side; the four fixed disks (17) are vertically arranged above two side parts of the two lower mounting plates (5) in a pairwise parallel mode, a central hole penetrating through the driving shaft (13) is formed in the central part, the outer side surface of each fixed disk is connected with the inner end of the connecting frame (10), and the outer end of the connecting frame (10) is connected to the outer side surface of a cylindrical mounting plate (15) which is vertically arranged and parallel to the fixed disks (17); a mounting hole (18) is formed in the center of each cylindrical mounting plate (15), and the outer side of the outer surface of each cylindrical mounting plate is connected with the inner ends of a plurality of fixed shafts (16) arranged at intervals; each fixed shaft (16) is provided with a planet wheel (7); the outer end of the driving shaft (13) penetrates through a mounting hole (18) on the cylindrical mounting plate (15) and then is fixed in a central hole of the central sun gear (6); the outer gear teeth of the central sun gear (6) are simultaneously meshed with the outer gear teeth of the planet gears (7); the inner side part of the inner ring gear (9) is sleeved on the edge of the cylindrical mounting plate (15), and gear teeth at the outer side part are simultaneously meshed with outer gear teeth of a plurality of planet gears (7); two transverse fixing blocks (19) are arranged in the middle of the bottom surface of the platform main body (1); the sliding block (20) is arranged on the fixed block (19), and the bottom of the sliding block is fixedly provided with the drawing box (8); the battery and the controller are arranged in the drawing box (8), the controller is electrically connected with all the motors (14) at the same time, and the battery is used for supplying power to the omnidirectional mobile platform.
2. The omni-directional mobile planet-based platform of claim 1, wherein: the motor (14) adopts a servo motor.
3. The omni-directional mobile planet-based platform of claim 1, wherein: the outer surface of the inner ring gear (9) is fixedly provided with anti-slip strips at equal intervals, so that the inner ring gear (9) can work conveniently under any ground condition.
4. The omni-directional mobile planet-based platform of claim 1, wherein: the number of the fixed shafts (16) is three, and the included angle between every two adjacent fixed shafts (16) is 120 degrees.
5. The omni-directional mobile planet-based platform of claim 1, wherein: the middle of the bottom surface of the fixed block (19) is inwards sunken to form a sliding groove with a T-shaped section, and the sliding block (20) is also T-shaped in section and is arranged in the sliding groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731319.7A CN111776108A (en) | 2020-07-27 | 2020-07-27 | Omnidirectional mobile platform based on planet wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731319.7A CN111776108A (en) | 2020-07-27 | 2020-07-27 | Omnidirectional mobile platform based on planet wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111776108A true CN111776108A (en) | 2020-10-16 |
Family
ID=72764258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010731319.7A Pending CN111776108A (en) | 2020-07-27 | 2020-07-27 | Omnidirectional mobile platform based on planet wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111776108A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2605491A (en) * | 2021-01-20 | 2022-10-05 | Benedex Ltd | Mobile platform and method of assembly thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203681698U (en) * | 2013-11-18 | 2014-07-02 | 北京卫星制造厂 | Vertical transfer platform for satellite subassembly |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| US9789902B1 (en) * | 2017-04-05 | 2017-10-17 | Kan Cui | Simultaneous manuvering system for vehicles |
| CN208149068U (en) * | 2018-03-23 | 2018-11-27 | 北京极智嘉科技有限公司 | Driving wheel and mobile robot |
| CN110410152A (en) * | 2019-08-28 | 2019-11-05 | 山东科技大学 | A kind of getting working face crusing robot and its application |
| CN110641576A (en) * | 2019-10-17 | 2020-01-03 | 博众精工科技股份有限公司 | Steering wheel AGV moving platform |
-
2020
- 2020-07-27 CN CN202010731319.7A patent/CN111776108A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203681698U (en) * | 2013-11-18 | 2014-07-02 | 北京卫星制造厂 | Vertical transfer platform for satellite subassembly |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| US9789902B1 (en) * | 2017-04-05 | 2017-10-17 | Kan Cui | Simultaneous manuvering system for vehicles |
| CN208149068U (en) * | 2018-03-23 | 2018-11-27 | 北京极智嘉科技有限公司 | Driving wheel and mobile robot |
| CN110410152A (en) * | 2019-08-28 | 2019-11-05 | 山东科技大学 | A kind of getting working face crusing robot and its application |
| CN110641576A (en) * | 2019-10-17 | 2020-01-03 | 博众精工科技股份有限公司 | Steering wheel AGV moving platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2605491A (en) * | 2021-01-20 | 2022-10-05 | Benedex Ltd | Mobile platform and method of assembly thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109019434B (en) | Small-size heavy load qxcomm technology AGV dolly that can lift | |
| CN106347709B (en) | A kind of multi-model aircarrier aircraft undercarriage dismounting vehicle | |
| CN202591033U (en) | Walking-drive device for spraying robot | |
| CN110329392A (en) | A kind of novel parking AGV trolley | |
| CN110497892B (en) | Submersible automobile carrying robot and control method thereof | |
| CN107054384B (en) | 4G inspection robot and inspection system | |
| CN109823427B (en) | Vehicle-snake combined variable-structure mobile robot | |
| CN210730481U (en) | Solar photovoltaic board cleans machine people | |
| CN109748089B (en) | Inverted truss robot | |
| CN111776108A (en) | Omnidirectional mobile platform based on planet wheel | |
| CN111959630A (en) | Modularized bionic wall-climbing robot | |
| CN113443311A (en) | Intelligent shuttle vehicle adaptive to environment and control system thereof | |
| CN212738360U (en) | Bidirectional transport vehicle | |
| CN218902804U (en) | Lightweight photovoltaic cleaning robot | |
| CN216827780U (en) | Electric rail traveling mechanism and electric rail traveling driving mechanism thereof | |
| CN113911964A (en) | Linkage conveyer of short distance transportation in wind-powered electricity generation blade | |
| CN113602345A (en) | Marching type commodity circulation dolly based on ackerman steering mechanism | |
| CN214456562U (en) | Heavy-load omnidirectional AGV with lifting function | |
| CN112937514A (en) | Intelligent parking equipment | |
| CN212832434U (en) | Main beam of light and small crane | |
| CN112373549B (en) | Transfer trolley convenient for production of energy-saving and environment-friendly electrical cabinets | |
| CN211691706U (en) | Power lapping mechanism | |
| CN110581360B (en) | Follow-up driving device of FAST feed cabin | |
| CN213136250U (en) | Wall-climbing polishing robot | |
| CN219927514U (en) | Movable trolley replacing vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201016 |
|
| WD01 | Invention patent application deemed withdrawn after publication |