CN111993382B - Chassis system for outdoor autonomous mobile robot - Google Patents
Chassis system for outdoor autonomous mobile robot Download PDFInfo
- Publication number
- CN111993382B CN111993382B CN202010921106.0A CN202010921106A CN111993382B CN 111993382 B CN111993382 B CN 111993382B CN 202010921106 A CN202010921106 A CN 202010921106A CN 111993382 B CN111993382 B CN 111993382B
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- chassis
- deep groove
- groove ball
- ball bearing
- mobile robot
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- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 210000004907 gland Anatomy 0.000 claims description 6
- 239000006096 absorbing agent Substances 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 5
- 239000000725 suspension Substances 0.000 abstract description 6
- 238000013016 damping Methods 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering 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
Classifications
-
- 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
-
- 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
Landscapes
- 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 is characterized by comprising a chassis frame, wherein driving wheels and driving units for driving the driving wheels to rotate are respectively arranged on two sides of one end of the chassis frame, and driven wheels are respectively connected on two sides of the other end of the chassis frame through steering and hanging units. The outdoor autonomous mobile robot chassis provided by the invention adopts the high-torque density type servo motor to provide power for the driving wheel, so that the climbing and obstacle surmounting capacity 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 adopt the differential steering principle and the motion combination of the rear wheel suspension type universal support, and the robot has the characteristics of excellent damping performance and flexible steering when moving at high speed under the condition of no excessive complex structure.
Description
[ Field of technology ]
The invention relates to a chassis system for a service type outdoor autonomous mobile robot.
[ Background Art ]
The service type autonomous mobile robot is widely used in an indoor environment, the indoor ground environment is relatively flat, and the requirement on a robot chassis is low. However, as the service type autonomous mobile robot's use environment expands to an outdoor environment, the robot chassis is highly required to have better trafficability and adaptability to a complex ground environment. Therefore, developing a chassis system which can be used for outdoor uneven road conditions, can span a certain height obstacle, can adapt to the stability requirement under relatively high moving speed and has high anti-tipping capability is a technical problem which needs to be solved urgently at present.
The present invention has been made based on this situation.
[ 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 road surface environment in the outdoor public environment, and can meet the requirement of higher stability in high-speed movement.
The invention is realized by the following technical scheme:
An outdoor autonomous mobile robot chassis system, characterized in that: the device comprises a chassis frame 2, wherein a driving wheel 101 and a driving unit 1 for driving the driving wheel 101 to rotate are respectively arranged on two sides of one end of the chassis frame 2, and driven wheels 301 are respectively connected on two sides of the other end of the chassis frame 2 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 suspending unit 3 comprises a supporting crank 303 hinged with the chassis frame 2, a damper 304 is arranged on the supporting crank 303, one end of the damper 304 is hinged with the supporting crank 303, the other end of the damper 304 is hinged with the chassis frame 2, a fork arm 302 is arranged on the supporting crank 303, the fork arm 302 is arranged below the supporting crank 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 303, a rotatable hub 317 is arranged at the lower part of the fork arm 302, and the driven wheel 301 is arranged on the hub 317.
As described above, the chassis system for an outdoor autonomous mobile robot is characterized in that: the steering structure 5 comprises a steering shaft 313 fixedly connected with the yoke 302 through a first screw 307, the steering shaft 313 is arranged inside the supporting crank 303, a roller bearing 314 and a deep groove ball bearing 311 are respectively arranged between the supporting crank 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 303, and the inner rings of the roller bearing 314 and the deep groove ball bearing 311 rotate together 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 gland 308 and a stopper 315 for vertically positioning the steering shaft 313 are provided above and below the support crank 303, respectively, and a gasket 309 and a shaft circlip 312 are interposed between the roller bearing 314 and the gland 308.
The chassis system for the outdoor autonomous mobile robot as described above is characterized in that: the connection between the yoke 302 and the hub 317 is provided with a rotating structure 6, the rotating structure 6 includes a fixed shaft 318 fixedly connected with the yoke 302, left and right deep groove ball bearings 320 and right deep groove ball bearings 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 on the fixed shaft 318, and outer rings of the left and right deep groove ball bearings 320 and 319 rotate along with the hub 317.
As described above, the chassis system for an outdoor autonomous mobile robot is characterized in that: the fixed shaft 318 is sleeved with a sleeve 316, the sleeve 316 is arranged between the left deep groove ball bearing 320 and the right deep groove ball bearing 319, the hub 317 is provided with a left step 321 for propping the left deep groove ball bearing 320 against the left side of the fork arm 302, and is also provided with a right step 322 for propping the right deep groove ball bearing 319 against the right side of the fork arm 302.
As described above, the chassis system for an outdoor autonomous mobile robot 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, and the driving wheel 101 is arranged on the flange plate 102.
As described above, the chassis system for an outdoor autonomous mobile robot is 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 type servo motor.
As described above, the chassis system for an outdoor autonomous mobile robot is characterized in that: the chassis frame 2 comprises a fixed frame 207, an upper mounting plate 202 is arranged on the upper portion of the fixed frame 207, a chassis supporting plate 201 is arranged on the lower portion of the fixed frame 207, a plurality of front-back supporting diagonal ribs 204 and left-right supporting diagonal ribs 205 are arranged on the side portion of the fixed frame 207, and the supporting plate 106 and the speed reducer mounting seat 103 are arranged on the chassis supporting plate 201.
As described above, the chassis system for an outdoor autonomous mobile robot is characterized in that: the upper mounting plate 202 is fixedly connected with the fixing frame 207 through bolts, the chassis support plate 201 is welded with the fixing frame 207, and the fixing frame 207 is provided with a battery mounting bin 4.
Compared with the prior art, the invention has the following advantages:
1. The outdoor autonomous mobile robot chassis provided by the invention adopts the high-torque density type servo motor to provide power for the driving wheel, so that the climbing and obstacle surmounting capacity 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 adopt the differential steering principle and the motion combination of the rear wheel suspension type universal support, and the robot has the characteristics of excellent damping performance and flexible steering when moving at high speed under the condition of no excessive complex structure.
2. According to the outdoor autonomous mobile robot chassis provided by the invention, the center of gravity is matched with the wheel base and the wheel base of the chassis, the battery compartment with a large space is reserved in the middle part of the chassis frame, a large-capacity battery can be installed, and the robot is ensured to have a higher anti-tipping safety coefficient while obtaining long endurance.
[ 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 a diagram illustrating the overall structure of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present invention.
Fig. 4 is a front view of a suspension and driven wheel portion of a chassis system for an outdoor autonomous mobile robot according to an embodiment of the present 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 an enlarged view of part at i in a cross section 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 an enlarged view of part ii of a cross-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.
Icon: 1-a driving unit; 2-chassis frame; 3-steering and suspension units; 101-a driving wheel; 102-a flange plate; 103-a speed reducer mounting base; 104-a speed reducer; 105-servo motor; 106-supporting the plate; 201-a chassis support plate; 202-an upper mounting plate; 203-supporting columns; 204-front and rear support diagonal ribs; 205-left and right supporting diagonal ribs; 207-fixing frame; 301-driven wheel; 302-yoke; 303-supporting a crank arm; 304-a shock absorber; 305-lower hinge support; 306-upper hinge support; 307-first screw; 308-capping; 309-washers; 310-baffle; 311-deep groove ball bearings; 312-circlips for shafts; 313-steering shaft; 314-roller bearings; 315-gear cover; 316-sleeve; 317-driven wheel hub; 318-fixed shaft; 319-right deep groove ball bearing; 320-left deep groove ball bearings; 321-left step; 322-right step; 323-a second screw; 4-a battery mounting bin; a 5-turn structure; 6-rotating structure.
[ Detailed description ] of the invention
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be removed and fully described below with reference to the accompanying drawings in which it is apparent that some, but not all embodiments of the present invention are described. The components of the 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 invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "front", "rear", "left", "right", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limitations of the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "fixed," "connected," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments described below may be combined with each other without conflict.
Examples:
The chassis system for the outdoor autonomous mobile robot comprises a chassis frame 2, wherein driving wheels 101 and driving units 1 for driving the driving wheels 101 to rotate are respectively arranged on two sides of one end of the chassis frame 2, and driven wheels 301 are respectively connected on two sides of the other end of the chassis frame 2 through steering and hanging units 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 with 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 speed reducer mounting base 103, the driving motor 105 is fixed on the support plate 106, the speed reducer 104 is fixed on the speed reducer mounting base 103, and the driving motor 105 is preferably a high torque density type servo motor.
As shown in fig. 3, the chassis frame 2 includes a fixing frame 207, an upper mounting plate 202 is disposed on an upper portion of the fixing frame 207, a chassis support plate 201 is disposed on a lower portion of the fixing frame 207, a plurality of front-rear supporting diagonal ribs 204 and a plurality of left-right supporting diagonal ribs 205 are disposed on side portions of the fixing frame 207, the left-right supporting diagonal ribs 205 are disposed on left and right sides of the fixing frame 207, the front-rear supporting diagonal ribs 204 are disposed on front and rear sides of the fixing frame 207, the support plate 106 and the speed reducer mounting seat 103 are disposed on the chassis support plate 201, and the driving unit 1 is mounted on the chassis support plate 201 through the speed reducer mounting seat 103.
Further, the upper mounting plate 202 is fixedly connected with the fixing frame 207 through bolts, the chassis support plate 201 is welded with the fixing frame 207, and the fixing frame 207 is provided with a battery mounting bin 4. This patent has reserved a battery installation storehouse in the intermediate position of chassis frame 2, can install the battery of 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 by a set of steering and suspension units 3. The steering and suspending unit 3 comprises a supporting crank 303 hinged with the chassis frame 2, a damper 304 is arranged on the supporting crank 303, one end of the damper 304 is hinged with the supporting crank 303, the other end of the damper 304 is hinged with the chassis frame 2 through an upper dumpling support 306, the upper end of the supporting crank 303 is hinged with the chassis frame 2 through a lower dumpling support 305, a fork arm 302 is arranged on the supporting crank 303, the fork arm 302 is arranged below the supporting crank 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 303, a rotatable hub 317 is arranged at the lower part of the fork arm 302, and the driven wheel 301 is arranged on the hub 317.
The two ends of the damper 304 are respectively connected with the supporting crank arm 303 and the chassis frame 2 in a hinged manner. The shock absorber 304 and the supporting crank 303 are turned at a small angle at the hinge when the chassis movement encounters uneven ground. The damper 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 disposed inside the supporting crank 303, a roller bearing 314 and a deep groove ball bearing 311 are disposed between the supporting crank 303 and the steering shaft 313, outer rings of the roller bearing 314 and the deep groove ball bearing 311 are fixed to the supporting crank 303, and inner rings of the roller bearing 314 and the deep groove ball bearing 311 rotate together with the steering shaft 313.
Further, 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 gland 308 and a stopper 315 for positioning the steering shaft 313 up and down are provided above and below the support crank 303, respectively, and a washer 309 and a shaft circlip 312 are interposed between the roller bearing 314 and the gland 308.
As shown in fig. 7 and 8, a rotating structure 6 is disposed at the connection 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 disposed on the 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 on 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 to the yoke 302 by a second screw 323 and the baffle 310.
The fixed shaft 318 is sleeved with a sleeve 316, the sleeve 316 is arranged between the left deep groove ball bearing 320 and the right deep groove ball bearing 319, the hub 317 is provided with a left step 321 for propping the left deep groove ball bearing 320 against the left side of the fork arm 302, and is also provided with a right step 322 for propping the right deep groove ball bearing 319 against the right side of the fork arm 302. The hub 317 of the driven wheel of the present patent is designed with an axial step at the bearing mounting position, which ensures that the hub does not axially float during rotation.
According to the outdoor autonomous mobile robot chassis structure provided by the embodiment of the invention, in the moving process, the high-torque density type servo motor 105 provides power for the driving wheel 101, so that the climbing and obstacle surmounting capacity of the chassis can be increased under the condition that the power of the motor is not increased. The front two independent driving units 1 are combined with the motion of the rear wheel suspension type universal supporting unit 3 by utilizing the differential steering principle, so that the robot has the characteristics of excellent damping performance and flexible steering when moving at high speed under the condition of no excessive complex structure. In addition, the problem of matching of the wheel base, 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 part of the chassis frame, a battery with large capacity can be installed, and the robot is ensured to have higher anti-tipping safety coefficient while obtaining long endurance.
The embodiments of the present invention are merely described in terms of preferred embodiments of the present invention, and are not intended to limit the scope and spirit of the present invention, but various modifications and improvements of the technical solutions of the present invention will be apparent to those skilled in the art without departing from the design concept of the present invention.
Claims (7)
1. An outdoor autonomous mobile robot chassis system, characterized in that: the device comprises a chassis frame (2), wherein a driving wheel (101) and a driving unit (1) for driving the driving wheel (101) to rotate are respectively arranged at two sides of one end of the chassis frame (2), and driven wheels (301) are respectively connected at two sides of the other end of the chassis frame (2) through steering and hanging 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), 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 arranged on the hub (317); 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 in 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 ring of the roller bearing (314) and the deep groove ball bearing (311) is fixed with the supporting crank arm (303), and the inner rings of the roller bearing (314) and the deep groove ball bearing (311) rotate together with the steering shaft (313); 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 arranged on the flange plate (102).
2. The chassis system for an outdoor autonomous mobile robot according to claim 1, wherein: the roller bearing (314) is arranged above the fork arm (302), the roller bearing (314) is a thrust roller bearing, a gland (308) and a baffle cover (315) for positioning the steering shaft (313) up and down are respectively arranged above and below the supporting crank arm (303), and a gasket (309) and a shaft elastic retainer ring (312) are plugged between the roller bearing (314) and the gland (308).
3. The chassis system for an outdoor autonomous mobile robot according to claim 1 or 2, wherein: the fork arm (302) with the junction of wheel hub (317) is equipped with rotating-structure (6), rotating-structure (6) include with fork arm (302) fixed connection's fixed axle (318) the left and right sides of fixed axle (318) are 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) rotates along with wheel hub (317).
4. A chassis system for an outdoor autonomous mobile robot according to claim 3, wherein: sleeve (316) is sleeved 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) will left deep groove ball bearing (320) support left step (321) on the left side of yoke (302), still be equipped with will right deep groove ball bearing (319) support right step (322) on the right side of yoke (302).
5. The chassis system for an outdoor autonomous mobile robot according to claim 1, wherein: 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.
6. The outdoor autonomous mobile robot chassis system according to claim 5, wherein: the chassis frame (2) comprises a fixed frame (207), an upper mounting plate (202) is arranged on the upper portion of the fixed frame (207), a chassis supporting plate (201) is arranged on the lower portion of the fixed frame (207), a plurality of front-back supporting diagonal ribs (204) and left-right supporting diagonal ribs (205) are arranged on the side portion of the fixed frame (207), and the supporting plate (106) and the speed reducer mounting seat (103) are arranged on the chassis supporting plate (201).
7. The outdoor autonomous mobile robot chassis system according to claim 6, wherein: the upper mounting plate (202) is fixedly connected with the fixing frame (207) through bolts, the chassis support plate (201) is welded with the fixing frame (207), and the fixing frame (207) is provided with a battery mounting bin (4).
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 |
Publications (2)
| Publication Number | Publication Date |
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| CN111993382A CN111993382A (en) | 2020-11-27 |
| CN111993382B true CN111993382B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010921106.0A Active CN111993382B (en) | 2020-09-04 | 2020-09-04 | Chassis system for outdoor autonomous mobile robot |
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| Country | Link |
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| CN (1) | CN111993382B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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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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| CN212578591U (en) * | 2020-09-04 | 2021-02-23 | 广东鲲鹏智能机器设备有限公司 | Chassis system for robot |
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| US6964309B2 (en) * | 2001-06-04 | 2005-11-15 | Biorobots, Llc | Vehicle with compliant drive train |
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| CN101628595A (en) * | 2009-08-05 | 2010-01-20 | 哈尔滨工程大学 | Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground |
| CN102802881A (en) * | 2010-01-14 | 2012-11-28 | 工程服务公司 | Mobile robot with manipulator arm traction device |
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| Publication number | Publication date |
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| CN111993382A (en) | 2020-11-27 |
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