CN114987654B - Suspension type ground self-adaptation AGV chassis - Google Patents
Suspension type ground self-adaptation AGV chassis Download PDFInfo
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- CN114987654B CN114987654B CN202210777323.6A CN202210777323A CN114987654B CN 114987654 B CN114987654 B CN 114987654B CN 202210777323 A CN202210777323 A CN 202210777323A CN 114987654 B CN114987654 B CN 114987654B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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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 relates to a suspension type ground self-adaptive AGV chassis, which comprises a chassis body, driving wheels and driven wheels, wherein the driving wheels and the driven wheels are arranged at the bottom of the chassis body, the driving wheels are integrally connected by virtue of driving wheel shaft rods, and the AGV chassis further comprises a balancing mechanism for automatically adjusting the ground clearance of the driving wheels; the driven wheel sets up both sides around chassis body bottom, the drive wheel sets up the left and right sides in the middle of chassis body bottom, be equipped with the recess chamber in the middle of the chassis body bottom, balance mechanism sets up in the recess intracavity along vertical direction. The inclined height limiting screw is arranged on the left side and the right side of the hollow swing shaft sleeve, and the distance between the bottom of the inclined height limiting screw and the top of the driving wheel shaft lever is equal to the inclined height between the bottom of the driving wheel and the ground. The balance mechanism is arranged above the driving wheel, so that the purposes of good ground grabbing force and strong self-adaption ground property of the driving wheel can be achieved.
Description
Technical Field
The invention relates to the technical field of AGVs, in particular to a suspension type ground self-adaptive AGV chassis.
Background
AGVs are acronyms for Automated Guided Vehicle, automatic guided vehicles, and AGVs are widely used in the field of logistics, automated operations, etc., such as AGV carts, storage robots, autonomous inspection, industrial automation robots, etc. The chassis is the hardware main part of the AGV, and relates to the wheel train and the supporting frame, and the performance of the AGV depends on the design of the basic chassis to a great extent.
In traditional AGV, the chassis of small-size AGV often is because space size restriction, and the chassis does not be equipped with suspension, causes the AGV when uneven ground uses, and the chassis shakes the range greatly, the unsettled phenomenon appears in the drive wheel, leads to the AGV drive wheel to grab the earth's power not enough, and the wheel skids, can not normally go, produces whole car easily and rocks then, can not ensure the security of goods.
In order to improve the suspension phenomenon of the driving wheel and weaken the shaking amplitude, the prior art is provided with a spring in the AGV chassis, and the automatic telescopic mode of the spring is used for adapting to the environment ground with different heights on site, so that the purpose of stable operation is achieved. However, the springs are easy to break and deform to lose elasticity, so that the springs have the defects of slipping, abrasion, difficult gap adjustment, difficult maintenance, disassembly and installation and the like. Along with the expansion of the application field of AGV technology, such as building decoration, off-site construction and the like, the prior art can not well solve the problems of good ground grabbing force of driving wheels and strong self-adaptation ground.
Disclosure of Invention
The invention aims to provide a suspension type ground self-adaptive AGV chassis, which can realize the purposes of good ground grabbing force and strong self-adaptive ground property of a driving wheel by arranging a balance mechanism above the driving wheel.
In order to achieve the purpose, the suspension type ground self-adaptive AGV chassis comprises a chassis body, driving wheels and driven wheels, wherein the driving wheels and the driven wheels are arranged at the bottom of the chassis body, the driving wheels are integrally connected by virtue of driving wheel shaft rods, and the AGV chassis further comprises a balancing mechanism for automatically adjusting the ground clearance of the driving wheels; the driven wheels are arranged on the front side and the rear side of the bottom of the chassis body, the driving wheels are arranged on the left side and the right side of the middle of the bottom of the chassis body, a groove cavity is formed in the middle of the bottom of the chassis body, and the balance mechanism is arranged in the groove cavity along the vertical direction;
the balance mechanism comprises an up-down sliding component, an up-down swinging component and an inclined height limiting screw, wherein the up-down swinging component is arranged at the lower end of the up-down sliding component; the upper end of the upper and lower sliding component is arranged in the groove cavity along the vertical direction, and the lower end of the upper and lower sliding component extends out of the groove cavity towards the bottom of the chassis body;
the up-down sliding assembly comprises a hollow fixed sleeve fixed on an upper cavity plate of the groove cavity, a sliding sleeve assembly capable of sliding up and down in the hollow fixed sleeve, and a groove base fixedly connected with the lower end of the sliding sleeve assembly; the groove base is positioned below the groove cavity, the opening of the groove base is downward, and the side surface of the groove base is provided with a rotating shaft connecting hole along the front-rear direction;
the up-down swinging assembly comprises a rotating shaft arranged in the connecting hole of the rotating shaft and a hollow swinging shaft sleeve sleeved outside the rotating shaft; the middle part of the hollow swing shaft sleeve is provided with a rotating shaft mounting hole along the front-back direction, the bottom of the hollow swing shaft sleeve is provided with a shaft lever mounting hole along the left-right direction, the driving wheel shaft lever penetrates through the shaft lever mounting hole and is fixedly connected with two ends of the shaft lever mounting hole, the middle part of the rotating shaft penetrates through the rotating shaft mounting hole and is in interference fit with the rotating shaft mounting hole, and two ends of the rotating shaft extend out of the rotating shaft connecting hole to be in threaded connection with two ends of the groove base;
the inclined height limiting screws are arranged on the left side and the right side of the groove base, and the distance between the bottom of each inclined height limiting screw and the top of the driving wheel shaft rod is equal to the inclined height between the bottom of each driving wheel and the ground.
Preferably, the balance mechanism can automatically adjust the inclination height range between the bottom of the driving wheel and the ground to be 1mm to 10mm.
As a preferable scheme, the sliding sleeve assembly comprises a hollow sliding shaft sleeve arranged in a hollow fixed sleeve cavity, a vertical shaft arranged in the hollow sliding shaft sleeve cavity and a ball bearing arranged between the hollow sliding shaft sleeve and the vertical shaft; the lower end of the vertical shaft is fixedly connected with the upper end of the groove base.
Further, the balance mechanism also comprises a fastening screw rod arranged on the upper cavity plate of the groove cavity; the hollow fixed sleeve comprises a hollow circular sleeve and screw mounting lugs arranged on the side surface of the hollow circular sleeve; the hollow sliding shaft sleeve is arranged in the hollow circular sleeve in a sliding mode, and the lower end of the fastening screw is in threaded connection with the screw mounting lug.
Further, the balance mechanism further comprises a sliding sleeve seat assembly arranged on the upper cavity plate of the groove cavity, the sliding sleeve seat assembly comprises a hollow sliding sleeve seat and bolts in threaded connection with the upper cavity plate of the groove cavity, a fixed sleeve mounting hole is formed in the middle of the hollow sliding sleeve seat along the vertical direction, a hollow fixed sleeve is arranged in the fixed sleeve mounting hole, threaded holes are formed in two sides of the hollow sliding sleeve seat along the vertical direction, and the bolts penetrate through the upper cavity plate of the groove cavity and are fixed in the threaded holes.
As a preferable scheme, a ball bearing is arranged between the rotating shaft of the up-down swinging assembly and the hollow swinging shaft sleeve.
The invention has the beneficial effects that:
the self-adaptive AGV chassis is characterized in that a balance mechanism is arranged on a driving wheel shaft rod connected with two driving wheels, when the ground is uneven, the two driving wheels are not on the same horizontal plane, the driving wheel shaft rod correspondingly swings up and down, and the distance between the up and down swinging, namely, the preset distance between the bottom of an inclined height limiting screw and the top of the driving wheel shaft rod, namely, the inclined height between the bottom of the driving wheel and the ground; the drive wheel axostylus axostyle transmits force to inclination height stop screw, and inclination height stop screw drives up-and-down swing subassembly and swings from top to bottom, and up-and-down swing subassembly drives the slip subassembly and slides from top to bottom along sliding sleeve seat subassembly again to realize that two drive wheel bottom connecting lines remain parallel throughout with ground, thereby realize that the drive wheel grabs that the land fertility is good, self-adaptation ground nature is strong purpose.
Drawings
FIG. 1 is a schematic view of a partial front view structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the structure of FIG. 1;
FIG. 3 is a schematic view of the structure of two driving wheels in an inclined state;
FIG. 4 is a schematic longitudinal sectional view of the structure of FIG. 1;
FIG. 5 is a schematic plan view of an up-down slide assembly;
FIG. 6 is a schematic plan view of an up-and-down swing assembly;
FIG. 7 is a schematic plan view of a sliding sleeve mount assembly;
reference numerals in the drawings are as follows:
the chassis comprises a chassis body 1, a groove cavity 11, a driving wheel 2, a driven wheel 3, a driving wheel shaft lever 4, a balance mechanism 5, a distance H, an inclined height H and a ground 6;
balance mechanism 5: an up-down sliding assembly 51, an up-down swinging assembly 52, an inclined height limiting screw 53, a sliding sleeve seat assembly 54 and a fastening screw 55;
up-down slide assembly 51: hollow fixed sleeve 511 (hollow circular sleeve 518, screw mounting ear 519), sliding sleeve assembly 512 (vertical shaft 515, hollow sliding sleeve 516, first ball bearing 517), groove base 513, shaft connecting hole 514, shaft connecting hole 510;
up-and-down swing assembly 52: a rotation shaft 521, a hollow swing shaft sleeve 522, a rotation shaft mounting hole 523, a shaft mounting hole 524, and a second ball bearing 525;
sliding sleeve mount assembly 54: hollow slide bushing seat 541, fixed bushing mounting hole 542, bolt 543, threaded hole 544.
Detailed Description
In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; 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.
As shown in fig. 1, the suspension type ground self-adaptive AGV chassis provided by the invention comprises a chassis body 1, two driving wheels 2 and two driven wheels 3 which are arranged at the bottom of the chassis body 1, wherein the two driving wheels 2 are integrally connected by virtue of a driving wheel shaft lever 4, and the AGV chassis further comprises a balance mechanism 5 for automatically adjusting the ground clearance of the driving wheels 2; the two driven wheels 3 are arranged on the front side and the rear side of the bottom of the chassis body 1, the two driving wheels 2 are arranged on the left side and the right side in the middle of the bottom of the chassis body 1, a groove cavity 11 is arranged in the middle of the bottom of the chassis body 1, and the balance mechanism 5 is arranged in the groove cavity 11 along the vertical direction. The direction indicated by the arrow in the figure is the front.
As shown in fig. 2 and 4, the balancing mechanism 5 includes a sliding seat assembly 54 and a fastening screw 55 mounted on an upper cavity plate of the groove cavity 11, an up-and-down sliding assembly 51 mounted inside the sliding seat assembly 54, an up-and-down swinging assembly 52 mounted at a lower end of the up-and-down sliding assembly 51, and an inclined height limiting screw 53; the upper end of the up-down sliding component 51 is arranged in the groove cavity 11 along the vertical direction, and the lower end of the up-down sliding component 51 extends out of the groove cavity 11 towards the bottom of the chassis body 1. The direction indicated by the arrow in fig. 4 is the front.
As shown in fig. 5, the up-down sliding assembly 51 comprises a hollow fixing sleeve 511 fixed on the upper cavity plate of the groove cavity 11, a sliding sleeve assembly 512 capable of sliding up and down in the hollow fixing sleeve 511, and a groove base 513 welded and fixed with the lower end of the sliding sleeve assembly 512; the groove base 513 is located below the groove cavity 11, the opening of the groove base 513 is downward, the side surface of the groove base 513 is provided with a spindle connecting hole 514 along the front-rear direction, and the bottom of the groove base 513 is provided with a shaft rod connecting hole 510 along the left-right direction.
The sliding sleeve assembly 512 comprises a hollow sliding shaft sleeve 516 arranged in the cavity of the hollow fixed sleeve 511, a vertical shaft 515 arranged in the cavity of the hollow sliding shaft sleeve 516, and a first ball bearing 517 arranged between the hollow sliding shaft sleeve 516 and the vertical shaft 515; the lower end of the vertical shaft 515 is welded and fixed with the upper end of the groove base 513.
As shown in fig. 6, the up-and-down swing assembly 52 includes a rotation shaft 521 disposed in the rotation shaft connection hole 514, a hollow swing shaft sleeve 522 sleeved outside the rotation shaft 521, and a second ball bearing 525 disposed between the rotation shaft 521 and the hollow swing shaft sleeve 522; the middle part of the hollow swing shaft sleeve 522 is provided with a rotating shaft mounting hole 523 along the front-back direction, the bottom of the hollow swing shaft sleeve 522 is provided with a shaft mounting hole 524 along the left-right direction, the driving wheel shaft lever 4 passes through the shaft mounting hole 524 and is welded and fixed with two ends of the shaft mounting hole 524, the middle part of the rotating shaft 521 passes through the rotating shaft mounting hole 523 and is in interference fit with the rotating shaft mounting hole 523, and two ends of the rotating shaft 521 extend out of the rotating shaft connecting hole 514 and are in threaded connection with two ends of the groove base 513.
The inclined height limiting screws 53 are arranged on the left side and the right side of the groove base 513 through double nuts, and the distance H between the bottoms of the inclined height limiting screws 53 and the top of the driving wheel shaft lever 4 is equal to the inclined height H between the bottom of the driving wheel 2 and the ground 6. The balance mechanism 5 can automatically adjust the inclination height between the bottom of the driving wheel 2 and the ground 6 to be 1mm to 10mm.
The hollow fixing sleeve 511 comprises a hollow circular sleeve 518 and screw mounting lugs 519 arranged on the side surface of the hollow circular sleeve 518; the hollow sliding shaft sleeve 516 is slidably arranged in the hollow circular sleeve 518, lubricating oil is added to the inner wall of the hollow sliding shaft sleeve 516 to reduce sliding resistance, and the lower end of the fastening screw 55 is in threaded connection with the screw mounting lug 519 through a double nut.
As shown in fig. 7, the sliding seat assembly 54 includes a hollow sliding seat 541 and a bolt 543 in threaded connection with the upper cavity plate of the groove cavity 11, a fixing sleeve mounting hole 542 is formed in the middle of the hollow sliding seat 541 along the vertical direction, the hollow fixing sleeve 511 is disposed in the fixing sleeve mounting hole 542, threaded holes 544 are formed in two sides of the hollow sliding seat 541 along the vertical direction, and the bolt 543 passes through the upper cavity plate of the groove cavity 11 and is fixed in the threaded holes 544.
The adjustment principle is as follows:
as shown in fig. 2 and 3, when the ground is not level, the two driving wheels 2 are not on the same horizontal plane, the driving wheel shaft lever 4 swings up and down correspondingly, and the distance between the bottom of the tilting height limit screw 53 and the top of the driving wheel shaft lever 4 is preset, namely the tilting height H between the bottom of the driving wheel and the ground; the driving wheel shaft lever 4 transmits force to the inclined height limiting screw 53, the inclined height limiting screw 53 drives the up-down swinging assembly 52 to swing up and down, and the up-down swinging assembly 52 drives the up-down sliding assembly 51 to slide up and down along the sliding sleeve seat assembly 54, so that the connection line between the bottoms of the two driving wheels 2 and the ground 6 are always kept parallel.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (4)
1. The utility model provides a suspension ground self-adaptation AGV chassis, the AGV chassis includes chassis body (1), sets up drive wheel (2) and from driving wheel (3) in chassis body (1) bottom, relies on drive wheel axostylus axostyle (4) to form integrated into one piece between drive wheel (2), its characterized in that: the AGV chassis also comprises a balance mechanism (5) for automatically adjusting the ground clearance of the driving wheel (2); the driven wheels (3) are arranged on the front side and the rear side of the bottom of the chassis body (1), the driving wheels (2) are arranged on the left side and the right side of the middle of the bottom of the chassis body (1), a groove cavity (11) is arranged in the middle of the bottom of the chassis body (1), and the balance mechanism (5) is arranged in the groove cavity (11) along the vertical direction;
the balance mechanism (5) comprises an up-down sliding component (51), an up-down swinging component (52) arranged at the lower end of the up-down sliding component (51), an inclined height limiting screw (53) and a sliding sleeve seat component (54) arranged on an upper cavity plate of the groove cavity (11); the upper end of the upper and lower sliding component (51) is arranged in the groove cavity (11) along the vertical direction, and the lower end of the upper and lower sliding component (51) extends out of the groove cavity (11) towards the bottom of the chassis body (1);
the up-down sliding assembly (51) comprises a hollow fixed sleeve (511) fixed on an upper cavity plate of the groove cavity (11), a sliding sleeve assembly (512) capable of sliding up and down in the hollow fixed sleeve (511), and a groove base (513) fixedly connected with the lower end of the sliding sleeve assembly (512); the groove base (513) is positioned below the groove cavity (11), the opening of the groove base (513) is downward, and a rotating shaft connecting hole (514) is formed in the side surface of the groove base (513) along the front-rear direction;
the sliding sleeve assembly (512) comprises a hollow sliding shaft sleeve (516) arranged in the cavity of the hollow fixed sleeve (511), a vertical shaft (515) arranged in the cavity of the hollow sliding shaft sleeve (516), and a first ball bearing (517) arranged between the hollow sliding shaft sleeve (516) and the vertical shaft (515); the lower end of the vertical shaft (515) is fixedly connected with the upper end of the groove base (513);
the up-down swinging assembly (52) comprises a rotating shaft (521) arranged in the rotating shaft connecting hole (514) and a hollow swinging shaft sleeve (522) sleeved outside the rotating shaft (521); a rotating shaft mounting hole (523) is formed in the middle of the hollow swing shaft sleeve (522) along the front-rear direction, a shaft rod mounting hole (524) is formed in the bottom of the hollow swing shaft sleeve (522) along the left-right direction, a driving wheel shaft rod (4) penetrates through the shaft rod mounting hole (524) and is fixedly connected with two ends of the shaft rod mounting hole (524), the middle of the rotating shaft (521) penetrates through the rotating shaft mounting hole (523) to be in interference fit with the rotating shaft mounting hole (523), and two ends of the rotating shaft (521) extend out of the rotating shaft connecting hole (514) to be in threaded connection with two ends of the groove base (513);
the inclined height limiting screws (53) are arranged on the left side and the right side of the groove base (513), and the distance (H) between the bottoms of the inclined height limiting screws (53) and the top of the driving wheel shaft lever (4) is equal to the inclined height (H) between the bottoms of the driving wheels (2) and the ground (6);
the sliding sleeve seat assembly (54) comprises a hollow sliding sleeve seat (541) and bolts (543) in threaded connection with an upper cavity plate of the groove cavity (11), wherein a fixed sleeve mounting hole (542) is formed in the middle of the hollow sliding sleeve seat (541) along the vertical direction, a hollow fixed sleeve (511) is arranged in the fixed sleeve mounting hole (542), threaded holes (544) are formed in two sides of the hollow sliding sleeve seat (541) along the vertical direction, and the bolts (543) penetrate through the upper cavity plate of the groove cavity (11) and are fixed in the threaded holes (544).
2. The suspension floor-adaptive AGV chassis according to claim 1 wherein: the balance mechanism (5) can automatically adjust the inclination height range between the bottom of the driving wheel (2) and the ground (6) to be 1mm to 10mm.
3. The suspension floor-adaptive AGV chassis according to claim 2 wherein: the balance mechanism (5) further comprises a fastening screw (55) arranged on the upper cavity plate of the groove cavity (11); the hollow fixing sleeve (511) comprises a hollow round sleeve (518) and screw mounting lugs (519) arranged on the side surface of the hollow round sleeve (518); the hollow sliding shaft sleeve (516) is arranged in the hollow circular sleeve (518) in a sliding mode, and the lower end of the fastening screw (55) is in threaded connection with the screw mounting lug (519).
4. The suspension floor adaptive AGV chassis according to any one of claims 1 to 3 wherein: a second ball bearing (525) is arranged between the rotating shaft (521) of the up-down swinging assembly (52) and the hollow swinging shaft sleeve (522).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210777323.6A CN114987654B (en) | 2022-06-30 | 2022-06-30 | Suspension type ground self-adaptation AGV chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210777323.6A CN114987654B (en) | 2022-06-30 | 2022-06-30 | Suspension type ground self-adaptation AGV chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114987654A CN114987654A (en) | 2022-09-02 |
| CN114987654B true CN114987654B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210777323.6A Active CN114987654B (en) | 2022-06-30 | 2022-06-30 | Suspension type ground self-adaptation AGV chassis |
Country Status (1)
| Country | Link |
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| CN (1) | CN114987654B (en) |
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| FR2609262A1 (en) * | 1987-01-05 | 1988-07-08 | Lignones Hubert | Hydraulic installation forming a balance arm for limiting the transverse inclination of an axle set of a vehicle and vehicle applying it |
| CN101585490A (en) * | 2009-06-19 | 2009-11-25 | 四川长起起重设备有限公司 | Oscillating suspension system of crane |
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| CN108482517A (en) * | 2018-03-08 | 2018-09-04 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN109923485A (en) * | 2016-11-09 | 2019-06-21 | 格雷戈里·纽厄尔 | 3D driving unit and system |
| CN209176811U (en) * | 2018-12-04 | 2019-07-30 | 上海木木聚枞机器人科技有限公司 | A kind of lever robot suspension frame structure, robot |
| CN112297740A (en) * | 2019-07-25 | 2021-02-02 | 山东大学 | Suspension adjusting device for light-load AGV and working method |
| CN212828674U (en) * | 2020-08-14 | 2021-03-30 | 广东博智林机器人有限公司 | Chassis device |
| CN213322507U (en) * | 2020-08-28 | 2021-06-01 | 华晓精密工业(苏州)有限公司 | Bridge type universal wheel structure and automatic guide transport vehicle with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7980569B2 (en) * | 2007-02-15 | 2011-07-19 | The Toro Company | Platform assembly for use with working vehicle |
| US10736479B2 (en) * | 2017-12-27 | 2020-08-11 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Drive-wheel suspension mechanism for smart movable device and smart movable device |
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2022
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2609262A1 (en) * | 1987-01-05 | 1988-07-08 | Lignones Hubert | Hydraulic installation forming a balance arm for limiting the transverse inclination of an axle set of a vehicle and vehicle applying it |
| CN101585490A (en) * | 2009-06-19 | 2009-11-25 | 四川长起起重设备有限公司 | Oscillating suspension system of crane |
| CN109923485A (en) * | 2016-11-09 | 2019-06-21 | 格雷戈里·纽厄尔 | 3D driving unit and system |
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| CN108482517A (en) * | 2018-03-08 | 2018-09-04 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN209176811U (en) * | 2018-12-04 | 2019-07-30 | 上海木木聚枞机器人科技有限公司 | A kind of lever robot suspension frame structure, robot |
| CN112297740A (en) * | 2019-07-25 | 2021-02-02 | 山东大学 | Suspension adjusting device for light-load AGV and working method |
| CN212828674U (en) * | 2020-08-14 | 2021-03-30 | 广东博智林机器人有限公司 | Chassis device |
| CN213322507U (en) * | 2020-08-28 | 2021-06-01 | 华晓精密工业(苏州)有限公司 | Bridge type universal wheel structure and automatic guide transport vehicle with same |
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| Publication number | Publication date |
|---|---|
| CN114987654A (en) | 2022-09-02 |
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