CN111993382A - Chassis system for outdoor autonomous mobile robot - Google Patents
Chassis system for outdoor autonomous mobile robot Download PDFInfo
- Publication number
- CN111993382A CN111993382A CN202010921106.0A CN202010921106A CN111993382A CN 111993382 A CN111993382 A CN 111993382A CN 202010921106 A CN202010921106 A CN 202010921106A CN 111993382 A CN111993382 A CN 111993382A
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- autonomous mobile
- groove ball
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- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 239000006096 absorbing agent Substances 0.000 claims description 12
- 230000035939 shock Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 7
- 238000013016 damping Methods 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a chassis system for an outdoor autonomous mobile robot, which has the technical scheme that the chassis system comprises a chassis frame, wherein two sides of one end of the chassis frame are respectively provided with a driving wheel and a driving unit for driving the driving wheel to rotate, and two sides of the other end of the chassis frame are respectively connected with a driven wheel through a steering and hanging unit. The chassis of the outdoor autonomous mobile robot provided by the invention adopts the high-torque-density servo motor to provide power for the driving wheels, and the climbing and obstacle crossing capabilities of the chassis can be increased under the condition of not increasing the power of the motor. The front two sets of independent driving units are combined with the motion of the rear wheel suspension type universal support by adopting a differential steering principle, so that the robot has the characteristics of excellent damping performance and flexible steering when moving at a high speed under the condition of not having too many complex structures.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a service type chassis system for an outdoor autonomous mobile robot.
[ background of the invention ]
The service type autonomous mobile robot is mostly used in indoor environment, the indoor ground environment is relatively flat, and the requirement on a robot chassis is low. However, as the service environment of the service-type autonomous mobile robot is expanded to an outdoor environment, the robot chassis is urgently required to have better trafficability and adaptability to a complex ground environment. Therefore, the development of a chassis system which can be used for outdoor uneven road conditions, can span barriers with a certain height, can meet the stability requirement at a relatively high moving speed and has high anti-tipping capability is a technical problem to be urgently solved at present.
The present invention has been made based on such a situation.
[ summary of the invention ]
The invention aims to overcome the defects of the prior art and provides a chassis system for a service type outdoor autonomous mobile robot. The system has the advantages of simple and reliable structure, long service life and flexible steering, can adapt to the complex pavement environment in the outdoor public environment, and can meet the requirement of higher stability during high-speed movement.
The invention is realized by the following technical scheme:
the utility model provides an outdoor autonomous mobile robot uses chassis system which characterized in that: the driving device comprises a chassis frame 2, wherein two sides of one end of the chassis frame 2 are respectively provided with a driving wheel 101 and a driving unit 1 for driving the driving wheel 101 to rotate, and two sides of the other end of the chassis frame 2 are respectively connected with driven wheels 301 through a steering and hanging unit 3.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the steering and suspension unit 3 comprises a supporting crank arm 303 hinged with the chassis frame 2, a shock absorber 304 is arranged on the supporting crank arm 303, one end of the shock absorber 304 is hinged on the supporting crank arm 303, the other end of the shock absorber is hinged on the chassis frame 2, a fork arm 302 is arranged on the supporting crank arm 303, the fork arm 302 is arranged below the supporting crank arm 303, a steering structure 5 for steering the fork arm 302 is arranged at the joint of the fork arm 302 and the supporting crank arm 303, a rotatable hub 317 is arranged at the lower part of the fork arm 302, and the driven wheel 301 is mounted on the hub 317.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the steering structure 5 comprises a steering shaft 313 fixedly connected with the fork arm 302 through a first screw 307, the steering shaft 313 is arranged inside the supporting crank arm 303, a roller bearing 314 and a deep groove ball bearing 311 are respectively arranged between the supporting crank arm 303 and the steering shaft 313, the outer rings of the roller bearing 314 and the deep groove ball bearing 311 are fixed with the supporting crank arm 303, and the inner rings of the roller bearing 314 and the deep groove ball bearing 311 rotate along with the steering shaft 313.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the roller bearing 314 is provided above the roller bearing 314, the roller bearing 314 is a thrust roller bearing, a cover 308 and a stopper 315 for vertically positioning the steering shaft 313 are provided above and below the support crank arm 303, respectively, and a washer 309 and a shaft circlip 312 are interposed between the roller bearing 314 and the cover 308.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: a rotating structure 6 is arranged at the joint of the yoke 302 and the hub 317, the rotating structure 6 comprises a fixed shaft 318 fixedly connected with the yoke 302, a left deep groove ball bearing 320 and a right deep groove ball bearing 319 are respectively arranged at the left side and the right side of the fixed shaft 318, the inner rings of the left deep groove ball bearing 320 and the right deep groove ball bearing 319 are fixed on the fixed shaft 318, and the outer rings of the left deep groove ball bearing 320 and the right deep groove ball bearing 319 rotate together with the hub 317.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the sleeve 316 is sleeved on the fixed shaft 318, the sleeve 316 is arranged between the left deep groove ball bearing 320 and the right deep groove ball bearing 319, a left step 321 which enables the left deep groove ball bearing 320 to abut against the left side of the fork arm 302 is arranged on the hub 317, and a right step 322 which enables the right deep groove ball bearing 319 to abut against the right side of the fork arm 302 is further arranged.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the driving unit 1 comprises a driving motor 105, a speed reducer 104 connected with the driving motor 105, and a flange plate 102 driven by the speed reducer 104, wherein the driving wheel 101 is installed on the flange plate 102.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: a supporting plate 106 and a speed reducer mounting seat 103 are arranged on the chassis frame 2, the driving motor 105 is fixed on the supporting plate 106, the speed reducer 104 is fixed on the speed reducer mounting seat 103, and the driving motor 105 is a high-torque-density servo motor.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the chassis frame 2 is including fixed frame 207 the upper portion of fixed frame 207 is equipped with mounting panel 202 the lower part of fixed frame 207 is equipped with chassis support plate 201, is equipped with many fore-and-aft support diagonal 204 and controls and support diagonal 205 at the lateral part of fixed frame 207, backup pad 106 with speed reducer mount pad 103 establish on the chassis support plate 201.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: go up the mounting panel 202 through the bolt with fixed frame 207 fixed connection, chassis support plate 201 with fixed frame 207 welds, be equipped with battery installation bin 4 on the fixed frame 207.
Compared with the prior art, the invention has the following advantages:
1. the chassis of the outdoor autonomous mobile robot provided by the invention adopts the high-torque-density servo motor to provide power for the driving wheels, and the climbing and obstacle crossing capabilities of the chassis can be increased under the condition of not increasing the power of the motor. The front two sets of independent driving units are combined with the motion of the rear wheel suspension type universal support by adopting a differential steering principle, so that the robot has the characteristics of excellent damping performance and flexible steering when moving at a high speed under the condition of not having too many complex structures.
2. According to the outdoor autonomous mobile robot chassis provided by the invention, the center of gravity of the wheel base and the wheel base of the chassis is matched, the battery bin with a large space is reserved in the middle part of the chassis frame, and a large-capacity battery can be mounted, so that the robot is ensured to have a higher anti-tipping safety coefficient while long endurance is achieved.
[ description of the drawings ]
Fig. 1 is a top view of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 2 is a side view of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 3 is an overall structural diagram of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 4 is a partial front view of a suspension and driven wheel of a chassis system for an outdoor autonomous mobile robot provided by an embodiment of the invention.
Fig. 5 is a cross-sectional view of a steering shaft of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 6 is a partial enlarged view at a position i in a section view of a steering shaft of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 7 is a sectional view of a steering wheel shaft of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 8 is a partial enlarged view at position ii in a cross-sectional view at a steering wheel axle of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Icon: 1-a drive unit; 2-a chassis frame; 3-steering and suspension units; 101-a drive wheel; 102-flange plate; 103-a reducer mounting base; 104-a speed reducer; 105-a servo motor; 106-a support plate; 201-chassis support plate; 202-upper mounting plate; 203-support column; 204-front and back support diagonal ribs; 205-left and right support diagonal ribs; 207-a fixed frame; 301-driven wheel; 302-yoke; 303-supporting crank arm; 304-a shock absorber; 305-lower hinge support; 306-upper hinge support; 307-a first screw; 308-a gland; 309-a washer; 310-a baffle; 311-deep groove ball bearing; 312-circlip for shaft; 313-a steering shaft; 314-roller bearings; 315-stop cover; 316-a sleeve; 317-driven wheel hub; 318-fixed axis; 319-right deep groove ball bearing; 320-left deep groove ball bearing; 321-left step; 322-right step; 323-a second screw; 4-battery installation bin; 5-a steering structure; 6-rotating structure.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "front", "back", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when the present invention is used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "fixed," "connected," "mounted," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.
Example (b):
a chassis system for an outdoor autonomous mobile robot is shown in fig. 1 to 8 and comprises a chassis frame 2, wherein two sides of one end of the chassis frame 2 are respectively provided with a driving wheel 101 and a driving unit 1 for driving the driving wheel 101 to rotate, and two sides of the other end of the chassis frame 2 are respectively connected with a driven wheel 301 through a steering and hanging unit 3.
As shown in fig. 3, the driving unit 1 is located at the left and right sides of the front end of the chassis frame 2, the driving unit 1 includes a driving motor 105, a speed reducer 104 connected to the driving motor 105, and a flange 102 driven by the speed reducer 104, and the driving wheel 101 is mounted on the flange 102.
As shown in fig. 3, the chassis frame 2 is provided with a support plate 106 and the reducer mounting base 103, the drive motor 105 is fixed to the support plate 106, the reducer 104 is fixed to the reducer mounting base 103, and the drive motor 105 is preferably a high-torque-density servo motor.
As shown in fig. 3, the chassis frame 2 includes a fixed frame 207, an upper mounting plate 202 is provided on the upper portion of the fixed frame 207, a chassis support plate 201 is provided on the lower portion of the fixed frame 207, a plurality of front and rear support diagonal ribs 204 and a plurality of left and right support diagonal ribs 205 are provided on the side portion of the fixed frame 207, the left and right support diagonal ribs 205 are provided on the left and right sides of the fixed frame 207, the front and rear support diagonal ribs 204 are provided on the front and rear sides of the fixed frame 207, the support plate 106 and the speed reducer mounting seat 103 are provided on the chassis support plate 201, and the drive unit 1 is mounted on the chassis support plate 201 through the speed.
Further, go up the mounting panel 202 through the bolt with fixed frame 207 fixed connection, chassis supporting plate 201 with fixed frame 207 welds, be equipped with battery installation bin 4 on the fixed frame 207. This patent has reserved a battery installation storehouse in the intermediate position of chassis frame 2, the battery of mountable large capacity. In addition, abundant screw holes are reserved on each metal plate of the chassis frame 2, so that the installation and fixation of external parts can be facilitated.
As shown in fig. 1 to 3, two driven wheels 301 of the robot are located at the rear end of the chassis frame 2, and each driven wheel 301 is connected to the chassis frame 2 through a set of steering and suspension units 3. The steering and hanging unit 3 comprises a supporting crank arm 303 hinged with the chassis frame 2, a shock absorber 304 is arranged on the supporting crank arm 303, one end of the shock absorber 304 is hinged on the supporting crank arm 303, the other end of the shock absorber is hinged on the chassis frame 2 through a dumpling support 306, the upper end of the supporting crank arm 303 is hinged on the chassis frame 2 through a dumpling support 305, a fork arm 302 is arranged on the supporting crank arm 303, the fork arm 302 is arranged below the supporting crank arm 303, a steering structure 5 enabling the fork arm 302 to steer is arranged at the joint of the fork arm 302 and the supporting crank arm 303, a rotatable hub 317 is arranged at the lower part of the fork arm 302, and a driven wheel 301 is arranged on the hub 317.
The two ends of the shock absorber 304 are respectively connected with the supporting crank arm 303 and the chassis frame 2 in a hinged manner. When the chassis moves to meet uneven ground, the shock absorber 304 and the supporting crank arm 303 rotate at a small angle at the hinge joint. The shock absorber 304 may be adjusted according to the weight of the load on the chassis to ensure optimal dynamic damping performance.
As shown in fig. 5 and 6, the steering structure 5 includes a steering shaft 313 fixedly connected to the yoke 302 by a first screw 307, the steering shaft 313 is provided inside the support crank arm 303, a roller bearing 314 and a deep groove ball bearing 311 are provided between the support crank arm 303 and the steering shaft 313, respectively, outer rings of the roller bearing 314 and the deep groove ball bearing 311 are fixed to the support crank arm 303, and inner rings of the roller bearing 314 and the deep groove ball bearing 311 rotate together with the steering shaft 313.
As shown in fig. 6, the roller bearing 314 is provided above the roller bearing 314, the roller bearing 314 is a thrust roller bearing, a cover 308 and a stopper 315 for vertically positioning the steering shaft 313 are provided above and below the support crank arm 303, respectively, and a washer 309 and a shaft circlip 312 are interposed between the roller bearing 314 and the cover 308.
As shown in fig. 7 and 8, a rotating structure 6 is disposed at a connection position between the yoke 302 and the hub 317, the rotating structure 6 includes a fixed shaft 318 fixedly connected to the yoke 302, left and right deep groove ball bearings 320 and 319 are respectively disposed on left and right sides of the fixed shaft 318, inner rings of the left and right deep groove ball bearings 320 and 319 are fixed to the fixed shaft 318, and outer rings of the left and right deep groove ball bearings 320 and 319 rotate together with the hub 317.
Further, the fixed shaft 318 is fixedly connected with the fork arm 302 through the second screw 323 and the baffle 310.
The sleeve 316 is sleeved on the fixed shaft 318, the sleeve 316 is arranged between the left deep groove ball bearing 320 and the right deep groove ball bearing 319, a left step 321 which enables the left deep groove ball bearing 320 to abut against the left side of the fork arm 302 is arranged on the hub 317, and a right step 322 which enables the right deep groove ball bearing 319 to abut against the right side of the fork arm 302 is further arranged. This patent is followed wheel hub 317's of driving wheel design in bearing mounted position department has the axial step, and the guarantee wheel hub does not take place the axial float when rotating.
According to the chassis structure of the outdoor autonomous mobile robot provided by the embodiment of the invention, in the moving process, the high-torque-density servo motor 105 provides power for the driving wheel 101, so that the climbing and obstacle crossing capabilities of the chassis can be increased under the condition of not increasing the power of the motor. The front two sets of independent driving units 1 are combined with the motion of the rear wheel suspension type universal supporting unit 3 by using a differential steering principle, so that the robot has the characteristics of excellent damping performance and flexible steering when moving at a high speed under the condition of not having too many complex structures. In addition, the problem of matching of the wheel track, the wheel base and the load center of gravity of the chassis is solved, a battery compartment with a large space is reserved in the middle of a chassis frame, a large-capacity battery can be mounted, and the robot is guaranteed to have a higher anti-tipping safety coefficient while achieving long endurance.
The embodiment of the present invention is described only for the preferred embodiment of the present invention, and not for the purpose of limiting the spirit and scope of the invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides an outdoor autonomous mobile robot uses chassis system which characterized in that: the driving device comprises a chassis frame (2), wherein two sides of one end of the chassis frame (2) are respectively provided with a driving wheel (101) and a driving unit (1) for driving the driving wheel (101) to rotate, and two sides of the other end of the chassis frame (2) are respectively connected with a driven wheel (301) through a steering and hanging unit (3).
2. The chassis system for an outdoor autonomous mobile robot according to claim 1, characterized in that: turn to and hang unit (3) including with chassis frame (2) articulated support crank arm (303), be equipped with bumper shock absorber (304) on support crank arm (303), the one end of bumper shock absorber (304) articulates on support crank arm (303), and the other end articulates on chassis frame (2) be equipped with yoke (302) on support crank arm (303), yoke (302) are located support crank arm's (303) below yoke (302) with the junction of support crank arm (303) is equipped with the messenger yoke (302) turn to steering structure (5) the lower part of yoke (302) is equipped with rotatable wheel hub (317), install from driving wheel (301) on wheel hub (317).
3. The chassis system for the outdoor autonomous mobile robot as claimed in claim 2, wherein: the steering structure (5) comprises a steering shaft (313) fixedly connected with a fork arm (302) through a first screw (307), the steering shaft (313) is arranged inside a supporting crank arm (303), a roller bearing (314) and a deep groove ball bearing (311) are respectively arranged between the supporting crank arm (303) and the steering shaft (313), the outer rings of the roller bearing (314) and the deep groove ball bearing (311) are fixed with the supporting crank arm (303), and the inner rings of the roller bearing (314) and the deep groove ball bearing (311) rotate along with the steering shaft (313).
4. The chassis system for an outdoor autonomous mobile robot according to claim 3, characterized in that: the roller bearing (314) is arranged above the roller bearing (314), the roller bearing (314) is a thrust roller bearing, a gland (308) and a stop cover (315) which are used for vertically positioning the steering shaft (313) are respectively arranged above and below the supporting crank arm (303), and a gasket (309) and an elastic retaining ring (312) for a shaft are plugged between the roller bearing (314) and the gland (308).
5. The chassis system for an outdoor autonomous mobile robot according to any one of claims 2 to 4, characterized in that: yoke (302) with the junction of wheel hub (317) is equipped with revolution mechanic (6), revolution mechanic (6) include with yoke (302) fixed connection's fixed axle (318) the left and right sides of fixed axle (318) is equipped with left deep groove ball bearing (320) and right deep groove ball bearing (319) respectively, the inner circle of left deep groove ball bearing (320) and right deep groove ball bearing (319) is fixed on fixed axle (318), the outer lane of left deep groove ball bearing (320) and right deep groove ball bearing (319) along with wheel hub (317) together rotate.
6. The chassis system for the outdoor autonomous mobile robot of claim 5, characterized in that: the cover has sleeve (316) on fixed axle (318), sleeve (316) are located between left deep groove ball bearing (320) and right deep groove ball bearing (319) be equipped with on wheel hub (317) with left deep groove ball bearing (320) support left step (321) on the left side of yoke (302), still be equipped with right deep groove ball bearing (319) support right step (322) on the right side of yoke (302).
7. The chassis system for the outdoor autonomous mobile robot of claim 1, characterized in that: the driving unit (1) comprises a driving motor (105), a speed reducer (104) connected with the driving motor (105) and a flange plate (102) driven by the speed reducer (104), and the driving wheel (101) is installed on the flange plate (102).
8. The chassis system for the outdoor autonomous mobile robot of claim 7, characterized in that: the chassis frame (2) is provided with a supporting plate (106) and a speed reducer mounting seat (103), the driving motor (105) is fixed on the supporting plate (106), the speed reducer (104) is fixed on the speed reducer mounting seat (103), and the driving motor (105) is a high-torque-density servo motor.
9. The chassis system for the outdoor autonomous mobile robot of claim 8, characterized in that: chassis frame (2) are including fixed frame (207) the upper portion of fixed frame (207) is equipped with mounting panel (202) the lower part of fixed frame (207) is equipped with chassis backup pad (201), supports brace diagonal (204) and control and support diagonal (205) around the lateral part of fixed frame (207) is equipped with many, backup pad (106) with speed reducer mount pad (103) are established on chassis backup pad (201).
10. The chassis system for the outdoor autonomous mobile robot of claim 9, characterized in that: go up mounting panel (202) through the bolt with fixed frame (207) fixed connection, chassis supporting plate (201) with fixed frame (207) welding, be equipped with battery installation storehouse (4) on fixed frame (207).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010921106.0A CN111993382B (en) | 2020-09-04 | 2020-09-04 | Chassis system for outdoor autonomous mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010921106.0A CN111993382B (en) | 2020-09-04 | 2020-09-04 | Chassis system for outdoor autonomous mobile robot |
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| CN111993382A true CN111993382A (en) | 2020-11-27 |
| CN111993382B CN111993382B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010921106.0A Active CN111993382B (en) | 2020-09-04 | 2020-09-04 | Chassis system for outdoor autonomous mobile robot |
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Cited By (1)
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| CN115384257A (en) * | 2022-08-19 | 2022-11-25 | 山东大学 | Front-back type tunnel monitoring robot suspension chassis, robot and method |
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| CN111993382B (en) | 2024-05-10 |
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