CN113071578A - Disconnect-type suspension mechanism and wheel leg vehicle - Google Patents
Disconnect-type suspension mechanism and wheel leg vehicle Download PDFInfo
- Publication number
- CN113071578A CN113071578A CN202110490695.6A CN202110490695A CN113071578A CN 113071578 A CN113071578 A CN 113071578A CN 202110490695 A CN202110490695 A CN 202110490695A CN 113071578 A CN113071578 A CN 113071578A
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- wheel
- vehicle
- leg
- swing arm
- suspension mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a separated suspension mechanism and a wheel leg vehicle, wherein the separated suspension mechanism comprises a driver, a swing arm, a shock absorber and a separable connecting piece; the driver is arranged on the wheel leg vehicle body, the first end of the swing arm is connected with the output shaft of the driver, the second end of the swing arm is connected with the first end of the shock absorber, and the second end of the shock absorber is connected with the separable connecting piece; when the wheel-leg vehicle is in a wheel type state, the driver drives the swing arm to swing to drive the separable connecting piece to be fixed with the shank of the wheel-leg vehicle, so that the wheel-leg vehicle is combined with the separable suspension mechanism, when the wheel-leg vehicle is impacted by the ground, the shock absorber buffers the excitation generated on the road surface in the process of fast advancing, reduces the vibration generated by the excitation, improves the maneuverability, the trafficability and the stability of the wheel-leg vehicle in the advancing process in the wheel type state, and avoids the occurrence of a vehicle falling phenomenon. When the wheel-leg vehicle is in a leg state, the driver drives the swing arm to swing to drive the separable connecting piece to be separated from the shank.
Description
Technical Field
The invention relates to the technical field of mobile robots, vehicle technologies and the like, in particular to a separated suspension mechanism and a wheel-leg vehicle.
Background
With the development of economy and science and technology in China, the wheel-leg vehicle has a good prospect in the aspects of replacing people to engage in tasks such as security patrol, disaster area rescue and the like in some dangerous areas. This requires that the wheel-leg vehicle have both good off-road and environmental adaptability on rough terrain and rapid mobility on flat roads.
When the wheel-leg vehicle is in a wheel type state, the road surface is excited in the process of rapid traveling, so that vibration is generated, and the vehicle falling phenomenon generally occurs.
Therefore, how to avoid the wheel-leg vehicle from falling down in a wheeled state is an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide a separate suspension mechanism, which can improve the transportation efficiency of a transportation vehicle and reduce the labor intensity of workers.
A second object of the present invention is to provide a wheel-leg vehicle.
In order to achieve the first object, the invention provides the following technical scheme:
a separate suspension mechanism comprises a driver, a swing arm, a shock absorber and a separable connecting piece;
the driver is installed on a wheel leg vehicle body, a first end of the swing arm is connected with an output shaft of the driver, a second end of the swing arm is connected with a first end of the shock absorber, and a second end of the shock absorber is connected with the separable connecting piece;
when the wheel-leg vehicle is in a wheel type state, the driver drives the swing arm to swing to drive the separable connecting piece to be fixed with the shank of the wheel-leg vehicle;
when the wheel-leg vehicle is in a leg state, the driver drives the swing arm to swing to drive the separable connecting piece to be separated from the shank of the wheel-leg vehicle.
In a specific embodiment, an electromagnetic pin is mounted at the lower leg of the wheel-leg vehicle;
the separable connecting piece is a curved rod capable of being plugged with the electromagnetic pin.
In another specific embodiment, the electromagnetic pin is electrically connected to a hub motor of the wheel-leg vehicle.
In another specific embodiment, the electromagnetic pin is disposed perpendicular to an inner surface of a lower leg of the wheel-legged vehicle.
In another specific embodiment, the drive is a drive motor.
In another specific embodiment, the bottom surface of the wheel leg vehicle body is provided with a mounting seat, the driving motor is mounted on the mounting seat, and the swing arm is hinged with the mounting seat.
In another specific embodiment, when the wheel-leg vehicle is in a legged state, the driving motor can drive the swing arm to retract to a position close to the bottom end of the vehicle body of the wheel-leg vehicle, and the swing arm is locked.
In another embodiment, the output shaft of the drive motor is perpendicular to both side surfaces of the wheel-leg vehicle.
In another embodiment, the plane of oscillation of the swing arm is perpendicular to the horizontal plane.
The various embodiments according to the invention can be combined as desired, and the embodiments obtained after these combinations are also within the scope of the invention and are part of the specific embodiments of the invention.
According to the technical scheme, when the wheel-leg vehicle is in a wheel type state, the driver drives the swing arm to swing to drive the separable connecting piece to be fixed with the shank of the wheel-leg vehicle, so that the wheel-leg vehicle and the separated suspension mechanism are combined, when the wheel-leg vehicle is impacted from the ground, the shock absorber buffers the excitation generated on the road surface in the process of fast traveling, reduces the vibration generated by the excitation, and improves the maneuverability, the trafficability and the stability of the wheel-leg vehicle in the traveling process in the wheel type state to avoid the occurrence of a vehicle falling phenomenon. When the wheel-leg vehicle is in a leg type state, the driver drives the swing arm to swing to drive the separable connecting piece to be separated from the shank of the wheel-leg vehicle, so that the shank of the wheel-leg vehicle is free from the action of the separated suspension mechanism to carry out stepping, obstacle crossing and other actions.
In order to achieve the second object, the present invention provides the following technical solutions:
a wheel-leg vehicle comprises a vehicle body, a running mechanism and a separated suspension mechanism as described in any one of the above items;
the number of the travelling mechanisms is 4, and the travelling mechanisms are arranged on the vehicle body in a rectangular distribution manner;
the walking mechanism comprises thighs, shanks and wheels, the tops of the thighs are hinged to the vehicle body, the tops of the shanks are hinged to the bottoms of the thighs, and the wheels are hinged to the bottoms of the shanks;
the separated suspension mechanisms correspond to the traveling mechanisms one by one, the separated suspension mechanisms on two sides of a first symmetrical line of the wheel leg vehicle are distributed in a mirror image mode, and the first symmetrical line is a symmetrical line of the wheel leg vehicle parallel to the advancing direction of the wheel leg vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a split suspension mechanism provided in accordance with the present invention when mounted on a lower leg;
FIG. 2 is a schematic structural view of a wheeled vehicle according to the present invention;
fig. 3 is a schematic structural view of the leg type vehicle according to the present invention.
Wherein, in fig. 1-3:
a split suspension mechanism 100, an actuator 101, a swing arm 102, a shock absorber 103, a separable connector 104, a wheel-leg vehicle 1000, a vehicle body 200, a lower leg 300, an electromagnetic pin 400, a mounting seat 500, an upper leg 600, a wheel 700, and an in-wheel motor 800.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the position or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, in one aspect of the present invention, a decoupled suspension mechanism 100 is disclosed, wherein the decoupled suspension mechanism 100 comprises an actuator 101, a swing arm 102, a shock absorber 103, and a separable connector 104.
The driver 101 is installed on the vehicle body 200 of the wheel-leg vehicle 1000, the first end of the swing arm 102 is connected with the output shaft of the driver 101, and the driver 101 can drive the swing arm 102 to swing.
A second end of the swing arm 102 is connected to a first end of a shock absorber 103 and a second end of the shock absorber 103 is connected to a separable connector 104.
When the wheel-legged vehicle 1000 is in a wheeled state, as shown in fig. 2, the driver 101 drives the swing arm 102 to swing, so as to drive the separable connector 104 to be fixed with the lower leg 300 of the wheel-legged vehicle 1000.
When the wheel-legged vehicle 1000 is in the legged state, as shown in fig. 3, the driver 101 drives the swing arm 102 to swing, which brings the separable connector 104 to separate from the lower leg 300 of the wheel-legged vehicle 1000.
According to the separated suspension mechanism 100 provided by the invention, when the wheel-leg vehicle 1000 is in a wheel type state, the driver 101 drives the swing arm 102 to swing to drive the separable connecting piece 104 to be fixed with the lower leg 300 of the wheel-leg vehicle 1000, so that the wheel-leg vehicle 1000 and the separated suspension mechanism 100 are combined, when the wheel-leg vehicle is impacted from the ground, the shock absorber 103 buffers the excitation generated on the road surface in the process of fast traveling, reduces the vibration generated by the excitation, and improves the maneuverability, the trafficability and the stability of the wheel-leg vehicle 1000 in the process of traveling in the wheel type state to avoid the occurrence of a vehicle falling phenomenon. When the wheel-legged vehicle 1000 is in a legged state, the driver 101 drives the swing arm 102 to swing, and drives the separable connecting piece 104 to be separated from the lower leg 300 of the wheel-legged vehicle 1000, so that the lower leg 300 of the wheel-legged vehicle 1000 breaks away from the action of the separable suspension mechanism 100 to perform stepping, obstacle crossing and other actions.
In some embodiments, the electromagnetic pin 400 is mounted at the lower leg 300 of the wheel-leg vehicle 1000, and the detachable connector 104 is a curved rod capable of being inserted into the electromagnetic pin 400, and the curved rod is provided with an insertion hole.
When the electromagnetic pin 400 is powered on, the electromagnetic pin 400 extends out and is inserted into the plug hole, so that the combination of the wheel leg vehicle 1000 and the separated suspension structure is realized. When the electromagnetic pin 400 is powered off, the electromagnetic pin 400 retracts to the original position and comes out of the insertion hole, so that the wheel leg vehicle 1000 is separated from the separable suspension mechanism 100.
Note that, a connecting pin may be provided in the lower leg 300, and the actuator 101 may be slidably attached to the body 200 of the wheel-legged vehicle 1000 without being extendable and retractable. When the wheel-leg vehicle 1000 is in a wheel-type state, the driver 101 drives the swing arm 102 to swing to drive the separable connecting piece 104 to swing, so that the plug hole in the curved bar at the second end of the shock absorber 103 is towards the connecting pin, and at the moment, the driver 101 drives the plug hole in the curved bar to be plugged with the connecting pin, so that the separated suspension mechanism 100 is fixed with the lower leg 300 of the wheel-leg vehicle 1000.
In some embodiments, the electromagnetic pin 400 is electrically connected to the in-wheel motor 800 of the wheel-leg vehicle 1000, i.e., the electromagnetic pin 400 is supplied with electric power by the in-wheel motor 800. It should be noted that the electromagnetic pin 400 is not limited to be supplied with electric power by the in-wheel motor 800, and a power supply may be separately provided to supply power to the electromagnetic pin 400.
Further, the invention discloses that the electromagnetic pin 400 is arranged perpendicular to the inner surface of the lower leg 300 of the wheel-leg vehicle 1000, the inner surface of the lower leg 300 refers to the surface of the lower leg 300 facing the inside of the wheel-leg vehicle 1000, so that the electromagnetic pin 400 is prevented from being exposed when arranged on the outer surface of the lower leg 300, and correspondingly, the separable suspension mechanism 100 is arranged on the inner side of the lower leg 300, so that the outer space is prevented from being occupied.
Further, the invention discloses that the driver 101 is a driving motor, and the driving motor is installed at the lower side of the middle part of the wheel leg vehicle 1000.
The actuator 101 is not limited to a driving motor, and may be a rotary cylinder or the like.
Taking the driver 101 as an example of a driving motor, when the separable suspension mechanism 100 is combined with the lower leg 300, the connection position between the electromagnetic pin 400 and the separable suspension mechanism 100 is controlled by the driving motor to control the angle, so that the swing arm 102, the upper leg 600, and the lower leg 300 are stopped at a specific angle for connection.
Further, the invention discloses that when the wheel-leg vehicle 1000 is in a leg state, the driving motor can drive the swing arm 102 to retract to a position close to the bottom end of the vehicle body 200 of the wheel-leg vehicle 1000, and lock the swing arm. Note that a storage compartment may be provided at the bottom end of the vehicle body 200 of the leg wheel vehicle 1000 to store the separable suspension mechanism 100.
Further, the invention discloses that the bottom surface of the body 200 of the wheel-leg vehicle 1000 is provided with a mounting seat 500, a driving motor is mounted on the mounting seat 500, and the swing arm 102 is hinged with the mounting seat 500.
Specifically, the mount 500 is detachably mounted on the body 200 of the leg wheel vehicle 1000.
Further, the present invention discloses that the output shaft of the drive motor is perpendicular to both side surfaces of the wheel-leg vehicle 1000.
Furthermore, the invention discloses that the swinging plane of the swing arm 102 is vertical to the horizontal plane, when the separable suspension mechanism 100 is retracted to the body 200 of the wheel-leg vehicle 1000, the swing arm 102 is driven by the driving motor to retract to the lower part of the wheel-leg vehicle 1000, the swinging directions of the swing arm 102 when the separable suspension mechanism 100 is retracted are swinging from the front side and the rear side of the wheel-leg vehicle 1000 to the middle lower part of the wheel-leg vehicle 1000, and the swinging plane is vertical to the horizontal plane.
When the wheel-leg vehicle 1000 is in a wheeled state, the wheel-leg vehicle 1000 is combined with the separable suspension mechanism 100, and the specific steps are as follows: the driving motor drives the swing arm 102 to descend the shock absorber 103 to a specific position through angle control to be connected with the electromagnetic pin 400 on the lower leg 300 of the wheel leg vehicle 1000, the electromagnetic pin 400 on the lower leg 300 of the wheel leg vehicle 1000 extends out through the electric control of the hub motor 800 at the wheel 700 position and is connected with the curved rod at the bottom end of the shock absorber 103, and therefore the combination of the wheel leg vehicle 1000 and the separable suspension mechanism 100 in a wheel type state is completed.
When the wheel-leg vehicle 1000 travels in a wheeled mode, the wheel-leg vehicle 1000 is combined with the separable suspension mechanism 100, and when the vehicle is impacted from the ground, the shock absorber 103 buffers the excitation generated on the road surface during the rapid travel process, reduces the vibration generated thereby, and improves the maneuverability, the trafficability and the stability of the wheel-leg vehicle 1000 during the travel process in a wheeled state to avoid the occurrence of a vehicle falling phenomenon.
As shown in fig. 3, when the wheel-leg vehicle 1000 is in the legged state, the wheel-leg vehicle 1000 is separated from the separable suspension mechanism 100 by the following specific steps: the electromagnetic pin 400 is powered off, so that the lower leg 300 of the wheel-leg vehicle 1000 is separated from the shock absorber 103, and the driving motor drives the swing arm 102 to rotatably retract the shock absorber 103 to the bottom end of the vehicle body 200 of the wheel-leg vehicle 1000 to lock and fix the driving motor. Thereby enabling the lower leg 300 of the wheel-legged vehicle 1000 to perform stepping, obstacle crossing, and the like without the function of the separable suspension mechanism 100.
The invention has the following advantages:
(1) the separated suspension mechanism 100 is introduced into the running mechanism of the wheel-leg vehicle 1000, and by means of separation and combination, the purposes of buffering and shock absorption are achieved, and too high energy consumption caused by the fact that the legs overcome the suspension to do work is avoided.
(2) The invention realizes the separation and combination of the separable suspension mechanism 100 and the lower leg 300 through the electromagnetic pin 400, and has the advantages of simple realization mode and reliable work.
(3) The separable suspension mechanism 100 has an advantage of a small unsprung mass in an integrated state as compared with a leg suspension structure of the conventional wheel-leg-wheel-leg vehicle 1000.
In another aspect of the present invention, a wheel-leg vehicle 1000 is disclosed, specifically, the wheel-leg vehicle 1000 comprises a vehicle body 200, a running gear and a separate suspension gear 100 as described in any one of the above embodiments.
The number of the traveling mechanisms is 4, and the traveling mechanisms are installed on the vehicle body 200 in a rectangular distribution manner, that is, along the advancing direction of the vehicle body 200, 2 traveling mechanisms are arranged at positions of the vehicle body 200 close to the front, 2 traveling mechanisms are arranged at positions of the vehicle body 200 close to the rear, the 2 traveling mechanisms at the front are symmetrically arranged about a first symmetry line of the vehicle body 200, and the 2 traveling mechanisms at the rear are symmetrically arranged about the first symmetry line of the vehicle body 200. The first line of symmetry is a line of symmetry of the wheel-leg vehicle 1000 parallel to the direction of travel of the wheel-leg vehicle 1000.
The walking mechanism comprises a thigh 600, a shank 300 and wheels 700, wherein the top end of the thigh 600 is hinged on the vehicle body 200, specifically, the top end of the thigh 600 is hinged on the side wall of the vehicle body 200, the top end of the shank 300 is hinged with the bottom end of the thigh 600, and the wheels 700 are hinged on the bottom end of the shank 300.
The split suspension mechanisms 100 correspond to the traveling mechanisms one to one, and the split suspension mechanisms 100 on both sides of the first line of symmetry of the wheel-leg vehicle 1000 are distributed in a mirror image.
It should be noted that, in the present specification, words indicating orientation, such as upper and lower, are set forth in the direction of fig. 1, and are used for convenience of description only, and have no other specific meanings.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and inventive features disclosed herein.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Claims (10)
1. A separate suspension mechanism is characterized by comprising a driver, a swing arm, a shock absorber and a separable connecting piece;
the driver is installed on a vehicle body of the wheel leg vehicle, a first end of the swing arm is connected with an output shaft of the driver, a second end of the swing arm is connected with a first end of the shock absorber, and a second end of the shock absorber is connected with the separable connecting piece;
when the wheel-leg vehicle is in a wheel type state, the driver drives the swing arm to swing to drive the separable connecting piece to be fixed with the shank of the wheel-leg vehicle;
when the wheel-leg vehicle is in a leg state, the driver drives the swing arm to swing to drive the separable connecting piece to be separated from the shank of the wheel-leg vehicle.
2. The split suspension mechanism according to claim 1, wherein an electromagnetic pin is mounted at a lower leg of the wheel-legged vehicle;
the separable connecting piece is a curved rod capable of being plugged with the electromagnetic pin.
3. The split suspension mechanism of claim 2 wherein the electromagnetic pin is electrically connected to a hub motor of the wheel-leg vehicle.
4. A split suspension mechanism as claimed in claim 2 wherein the electromagnetic pin is disposed perpendicular to the inner surface of the lower leg of the wheel-legged vehicle.
5. A split suspension mechanism as claimed in claim 1, wherein the drive is a drive motor.
6. A split suspension mechanism as claimed in claim 5, wherein the underside of the wheel-legged vehicle body is provided with a mounting seat on which the drive motor is mounted, the swing arm being articulated with the mounting seat.
7. The split suspension mechanism according to claim 5, wherein when the wheel-leg vehicle is in a legged state, the driving motor can drive the swing arm to retract to a position close to the bottom end of the vehicle body of the wheel-leg vehicle and lock the swing arm.
8. The split suspension mechanism according to claim 5, wherein the output shaft of the drive motor is perpendicular to both side surfaces of the wheel-leg vehicle.
9. A split suspension mechanism as claimed in any one of claims 1 to 8, wherein the plane of oscillation of the swing arm is perpendicular to the horizontal.
10. A wheel-legged vehicle comprising a vehicle body, a running gear and a split suspension gear according to any one of claims 1 to 9;
the number of the travelling mechanisms is 4, and the travelling mechanisms are arranged on the vehicle body in a rectangular distribution manner;
the walking mechanism comprises thighs, shanks and wheels, the tops of the thighs are hinged to the vehicle body, the tops of the shanks are hinged to the bottoms of the thighs, and the wheels are hinged to the bottoms of the shanks;
the separated suspension mechanisms correspond to the traveling mechanisms one by one, the separated suspension mechanisms on two sides of a first symmetrical line of the wheel leg vehicle are distributed in a mirror image mode, and the first symmetrical line is a symmetrical line of the wheel leg vehicle parallel to the advancing direction of the wheel leg vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110490695.6A CN113071578B (en) | 2021-05-06 | 2021-05-06 | Disconnect-type suspension mechanism and wheel leg vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110490695.6A CN113071578B (en) | 2021-05-06 | 2021-05-06 | Disconnect-type suspension mechanism and wheel leg vehicle |
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| Publication Number | Publication Date |
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| CN113071578A true CN113071578A (en) | 2021-07-06 |
| CN113071578B CN113071578B (en) | 2022-03-22 |
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| CN202110490695.6A Active CN113071578B (en) | 2021-05-06 | 2021-05-06 | Disconnect-type suspension mechanism and wheel leg vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386509A (en) * | 2021-07-13 | 2021-09-14 | 上海崟冠智能科技有限公司 | Vehicle active suspension system |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
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| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
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| CN109823436A (en) * | 2019-03-27 | 2019-05-31 | 北京真机智能科技有限公司 | For dispensing the robot of cargo |
| CN111891253A (en) * | 2020-09-02 | 2020-11-06 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Quadruped robot |
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| DE3822211A1 (en) * | 1988-07-01 | 1990-01-25 | Erich Kamehl | Suspension strut |
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN107614365A (en) * | 2015-02-01 | 2018-01-19 | 詹尼斯机器人技术有限公司 | Mobile platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386509A (en) * | 2021-07-13 | 2021-09-14 | 上海崟冠智能科技有限公司 | Vehicle active suspension system |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
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| Publication number | Publication date |
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| CN113071578B (en) | 2022-03-22 |
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