CN115837947A - Self-adaptive chassis and mobile robot - Google Patents
Self-adaptive chassis and mobile robot Download PDFInfo
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- CN115837947A CN115837947A CN202211051523.XA CN202211051523A CN115837947A CN 115837947 A CN115837947 A CN 115837947A CN 202211051523 A CN202211051523 A CN 202211051523A CN 115837947 A CN115837947 A CN 115837947A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The application relates to a self-adaptation chassis and mobile robot, include: a first chassis unit including a first chassis body, and a first driving wheel assembly and a first driven wheel assembly mounted to the first chassis body; the first chassis body is provided with a first bottom surface; a second chassis unit including a second chassis body, and a second driving wheel assembly and a second driven wheel assembly mounted to the second chassis body; the second chassis body is provided with a second bottom surface; and, a connection unit; wherein, the first chassis unit and the second chassis unit are movably connected through the connecting unit, and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly and the second driving wheel assembly are arranged on two opposite sides of the self-adaptive chassis at intervals. The self-adaptive chassis is beneficial to increasing the bearing capacity of the self-adaptive chassis and improving the capacity of the self-adaptive chassis for adapting to different terrains.
Description
Technical Field
The invention relates to the technical field of automatic transportation, in particular to a self-adaptive chassis and a mobile robot.
Background
The self-adaptive chassis can be used for adapting to the condition of uneven ground and weakening vehicle body vibration and instability.
The self-adaptive chassis in the prior art usually adopts a multi-wheel-set floating mode to adapt to uneven ground. However, the existing multi-wheel-set floating technology still has the problems of weak bearing capacity and weak self-adaptive capacity.
Disclosure of Invention
The invention aims to provide a self-adaptive chassis and a mobile robot, which are high in bearing capacity and self-adaptive capacity.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present application relates to an adaptive chassis comprising:
a first chassis unit including a first chassis body, and a first driving wheel assembly and a first driven wheel assembly mounted to the first chassis body; the first chassis body is provided with a first bottom surface;
a second chassis unit including a second chassis body, and a second driving wheel assembly and a second driven wheel assembly mounted to the second chassis body; the second chassis body is provided with a second bottom surface;
and, a connection unit;
wherein, the first chassis unit and the second chassis unit are movably connected through the connecting unit, and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly and the second driving wheel assembly are arranged on two opposite sides of the self-adaptive chassis at intervals.
In one embodiment, the first chassis body and the second chassis body have a degree of freedom to rotate about a first direction, and the first driven wheel assembly and the second driven wheel assembly are relatively floating.
In one embodiment, the first direction is perpendicular to the direction of travel of the chassis.
In an embodiment, the connecting unit includes a rotating shaft, a first shaft seat mounted on the first chassis body, and a second shaft seat mounted on the second chassis body; the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft;
or the like, or, alternatively,
the connecting unit comprises a rotating shaft, a first shaft seat and a second shaft seat which are arranged on the first chassis body, and a first shaft seat and a second shaft seat which are arranged on the second chassis body; the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft; and the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft.
In one embodiment, there is a mounting gap between the first shaft seat and the second shaft seat; and a clamping fixing piece is arranged in the mounting gap so as to restrict the relative movement of the first chassis body and the second chassis body.
In one embodiment, the first chassis body and the second chassis body have a degree of freedom to rotate about the second direction, and the first drive wheel assembly and the second drive wheel assembly are relatively floating.
In one embodiment, the second direction is parallel to the direction of travel of the chassis.
In an embodiment, the connecting unit includes a rotating shaft, a first shaft seat mounted on the first chassis body, and a second shaft seat mounted on the second chassis body; the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft can movably penetrate through the first shaft hole and the second shaft hole; wherein, the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down;
or the like, or, alternatively,
the connecting unit comprises a rotating shaft, a first shaft seat and a second shaft seat which are arranged on the first chassis body, and a first shaft seat and a second shaft seat which are arranged on the second chassis body; the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft can movably penetrate through the first shaft hole and the second shaft hole; the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft; the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down.
In one embodiment, a mounting gap is formed between the first shaft seat and the second shaft seat; the installation gap is internally provided with a clamping fixing piece so as to restrict the relative movement of the first chassis body and the second chassis body.
In one embodiment, at least one of the first drive wheel assembly and the second drive wheel assembly, the first driven wheel assembly and the second driven wheel assembly are disposed in at least three mounting locations that are non-collinear.
In one embodiment, the first drive wheel assembly includes at least one first drive wheel and the first driven wheel assembly includes at least one first driven wheel;
and/or the presence of a gas in the gas,
the second drive wheel assembly includes at least one second drive wheel and the second driven wheel assembly includes at least one second driven wheel.
In one embodiment, the first drive wheel assembly comprises at least one first drive wheel and the first driven wheel assembly comprises at least two first driven wheels; the first driven wheel and the first driving wheel are matched to form at least three non-collinear supporting points;
and/or the presence of a gas in the gas,
the second driving wheel assembly comprises at least one second driving wheel, and the second driven wheel assembly comprises at least two second driven wheels; the second driven wheel and the second driving wheel are matched to form at least three non-collinear supporting points.
In one embodiment, the first driven wheel assembly and the second driven wheel assembly are respectively arranged at two sides of the axis of the driving wheel; wherein the drive wheel axis connects the first drive wheel assembly and the second drive wheel assembly.
In one implementation technical scheme, one point of the adaptive chassis in horizontal projection is taken as a central point;
the mounting position of the first driven wheel assembly on the first chassis body and the mounting position of the second driven wheel assembly on the second chassis body are arranged in a manner of being centrosymmetric with respect to the central point;
and/or the presence of a gas in the gas,
the installation position of the first driving wheel assembly on the first chassis body and the installation position of the second driving wheel assembly on the second chassis body are arranged in a manner of being centrosymmetric around the central point.
In a second aspect, the present application relates to a mobile robot having an adaptive chassis, comprising:
an adaptive chassis as claimed in any one of the first aspect, comprising a first chassis unit comprising a first chassis body, and first drive and driven wheel assemblies mounted to said first chassis body; a second chassis unit including a second chassis body, and a second driving wheel assembly and a second driven wheel assembly mounted to the second chassis body; the first chassis body is movably connected with the second chassis body, and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly and the second driving wheel assembly are arranged on two opposite sides of the self-adaptive chassis at intervals;
the supporting mechanism is arranged on the self-adaptive chassis; the supporting mechanism is provided with a first connecting part connected with the first chassis unit and a second connecting part connected with the second chassis unit; wherein the first connection point is movably connected with the first chassis unit, and/or the second connection point is movably connected with the second chassis unit;
and a support part arranged on the support mechanism.
In one embodiment, the first chassis unit or the second chassis unit further comprises an adjustment mechanism; the adjusting mechanism comprises an installation plate arranged along the non-advancing direction; the mounting plate is rotatably connected with the first chassis body or the second chassis body through a rotating connection part;
the first connection point or the second connection point of the supporting mechanism comprises two pivot points arranged at intervals along the non-advancing direction; the two supporting points are positioned on the mounting plate and are respectively positioned at two sides of the rotating connection part;
wherein, the two fulcrums can float relatively along with the rotation of the mounting plate.
In one embodiment, the supporting mechanism is a movable lifting structure;
the mobile robot further comprises:
the driving mechanism is arranged on the self-adaptive chassis;
wherein at least one of the support mechanism and the support portion is driven by the driving mechanism to enable the support portion to approach or depart from the adaptive chassis.
In one embodiment, the supporting mechanism includes:
the first supporting component and the second supporting component are arranged in a crossed mode; the first end of the first supporting component is in rotary connection with the first chassis body, and the second end of the first supporting component is in displacement connection with the supporting part; the first end of the second supporting component is in rotary connection with the supporting part, and the second end of the second supporting component is in displacement connection with the second chassis body; the first support assembly and the second support assembly are rotatably connected.
In one embodiment, the supporting mechanism includes:
the first supporting assembly comprises a first connecting part and a second connecting part which are hinged to each other at a first hinge point, the first connecting part is rotatably connected with the supporting part, and the second connecting part is rotatably connected with the first chassis body;
the second supporting assembly comprises a third connecting part and a fourth connecting part which are positioned at a second hinge point and are mutually hinged, the third connecting part is rotatably connected with the supporting part, and the fourth connecting part is rotatably connected with the second chassis body;
wherein the first supporting component and the second supporting component are arranged at intervals;
and two ends of the connecting component are respectively hinged with the first hinge point and the second hinge point.
In one embodiment, the driving device includes a motor mounted on the base and a crank-link structure including an articulated crank and a link, the crank is drivable by the motor, and the link is articulated with at least one of the first support assembly, the second support assembly and the support portion.
In one embodiment, the support mechanism further comprises a first link assembly and a second link assembly rotatably connected to each other, the first link assembly being rotatably connected to the first support assembly; the second connecting rod assembly is rotatably connected with the second supporting assembly.
Compared with the prior art, the invention has the beneficial effects that:
the technical scheme provided by the technical scheme is beneficial to increasing the bearing capacity of the self-adaptive chassis and improving the capacity of the self-adaptive chassis for adapting to different terrains.
Drawings
Fig. 1 is a schematic structural diagram 1 of an adaptive chassis according to the present invention.
Fig. 2 is a schematic structural diagram 2 of an adaptive chassis according to the present invention.
Fig. 3 is a schematic structural diagram of the first chassis unit according to the present invention.
Fig. 4 is a schematic structural diagram of a second chassis unit according to the present invention.
Fig. 5 is a schematic structural diagram of a first embodiment of the present invention with an adaptive chassis.
Fig. 6 is a schematic structural diagram of a second embodiment with an adaptive chassis according to the present invention.
Fig. 7 is a schematic structural diagram of a mobile robot with an adaptive chassis according to a first embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a mobile robot with an adaptive chassis according to a second embodiment of the present invention.
Fig. 9 is a schematic view of a part of the mechanism of the mobile robot with a supporting mechanism in a first direction view according to the present invention.
Description of the symbols of the drawings:
1. a first chassis unit 11, a first chassis body 12, a first driving wheel assembly 121, a first driving wheel 13, a first driven wheel assembly 131, a first driven wheel; 14. an adjustment mechanism;
2. a second chassis unit 21, a second chassis body 22, a second driving wheel assembly 221, a second driving wheel 23, a second driven wheel assembly 231, a second driven wheel;
3. a connection unit;
4. support mechanism, 41, first support component, 42, second support component
5. A support portion.
Detailed Description
The present invention will now be described in more detail with reference to the accompanying drawings, in which the description of the invention is given by way of illustration and not of limitation. The various embodiments may be combined with each other to form other embodiments not shown in the following description.
For the innovation source of the present application, in order to solve the problems that the adaptive chassis has weak bearing capacity and weak adaptive capacity in different terrains, the following technical solutions are discussed: if the technical scheme that the multiple wheel sets are connected through the connecting rod, and the middle part of the connecting rod is hinged to the chassis is adopted, the problem that part of self-adaptive capacity is weak can be solved, but the scheme is generally complex in design, the multiple wheel sets connected to the connecting rod cannot be simultaneously grounded, and the chassis is unbalanced in bearing capacity and weak in bearing capacity along with the change of the ground to the supporting point of the chassis. If the technical scheme that different wheel sets are respectively installed on the sectional type chassis hinged in the front and back direction along the advancing direction is adopted, the floating of the wheel sets in the front and back direction along the advancing direction can only be realized, and the self-adaptive capacity is weak.
Referring to fig. 1-4, in a first aspect, one embodiment of the present application relates to an adaptive chassis, comprising:
a first chassis unit 1 including a first chassis body 11, and a first drive wheel assembly 12 and a first driven wheel assembly 13 mounted to the first chassis body 11; the first chassis body 11 is provided with a first bottom surface;
a second chassis unit 2 including a second chassis body 21, and a second driving wheel assembly 22 and a second driven wheel assembly 23 mounted to the second chassis body 21; the second chassis body 21 has a second bottom surface;
and, a connection unit 3;
wherein, the first chassis unit 1 and the second chassis unit 2 are movably connected through the connecting unit 3, and the angle between the first bottom surface and the second bottom surface can be changed; the first drive wheel assembly 12 and the second drive wheel assembly 22 are spaced apart on opposite sides of the adaptive chassis.
The adaptive chassis is a sectional chassis, specifically a two-section or multi-section chassis, and includes a first chassis unit 1, a second chassis unit 2, and a connecting unit 3 connecting the first chassis unit 1 and the second chassis unit 2. By default, the first drive wheel assembly 12, the second drive wheel assembly 22, the first driven wheel assembly 13, and the second driven wheel assembly 23 may form at least four different pivot points of the chassis.
The key of the application is that: first, the first drive wheel assembly 12 and the second drive wheel assembly 22 which are oppositely arranged belong to the first chassis unit 1 and the second chassis unit 2 respectively; secondly, the first chassis unit 1 and the second chassis unit 2 are movably connected, and the angle between the first bottom surface and the second bottom surface can be changed.
If the first drive wheel assembly 12 and the second drive wheel assembly 22, which are oppositely arranged, are arranged on the same chassis unit, firstly, the stress of different chassis units cannot be evenly distributed to different drive wheels, so that the bearing capacity of the chassis is influenced; secondly, the arrangement of the first driving wheel assembly 12 and the second driving wheel assembly 22 is relatively fixed, and in terms of the mountable manner, the first driving wheel assembly 12 and the second driving wheel assembly 22 are difficult to have independent self-adaptive adjustment capability, so that the chassis has poor flexibility and poor self-adaptive capability. The embodiment solves the above problems, the stress of the first chassis unit 1 and the second chassis unit 2 can be distributed to different driving wheels in a balanced manner, and the bearing capacity of the chassis is improved; meanwhile, the movable connection enables the connection relationship between the first chassis unit 1 and the second chassis unit 2 to be more flexible, and more importantly, the first driving wheel assembly 12 and the second driving wheel assembly 22 which are subordinate to the movable connection also have flexible adjustment modes, and even in the terrain with uneven directions, the movable connection also has strong adaptability. The articulation will be described in greater detail below.
The following more specific explanation of the above structure and connection relationship is made:
a first chassis body 11 and a second chassis body 21 having a first bottom surface and a second bottom surface, respectively; the first chassis body 11 and the first chassis body 11 may be plate-shaped structures, and may also be frames, suspensions or other structures, and are used for mounting and connecting the first driving wheel assembly 12, the second driving wheel assembly 22, the first driven wheel assembly 13 and the second driven wheel assembly 23, and the shape and structure of the first chassis body and the first chassis body do not affect the implementation effect of the present application. The first chassis body 11 and the second chassis body 21 may be arranged side by side in the direction of travel.
A first drive wheel assembly 12 and a second drive wheel assembly 22, the first drive wheel assembly 12 may include a first drive motor, a first mounting member, and a first drive wheel 121 that are individually controlled, and the second drive wheel assembly 22 may include a second drive motor, a second mounting member, and a second drive wheel 221 that are individually controlled. Generally, the first drive wheel 121 and the second drive wheel 221 are disposed side-by-side. The wheel diameter specifications of the first driving wheel 121 and the second driving wheel 221 are generally selected to be the same. The first driving wheel 121 and the second driving wheel 221 may be arranged side by side perpendicular to the traveling direction, and may be disposed symmetrically to each other with the traveling direction of the chassis as a symmetric axis. In an implementation technical solution, the first mounting part and the second mounting part may be respectively provided with an elastic shock absorbing structure, a link structure or other floating structures to enhance the self-adaptive performance. The drive wheels of the first drive wheel assembly 12 and the drive wheels of the second drive wheel assembly 22. In one embodiment, the driving wheels can be one-way wheels, and steering is realized by adopting a differential driving principle; in other embodiments, the drive wheel may also be an omni wheel.
The first driven wheel assembly 13 and the second driven wheel assembly 23 may include a mounting member and a driven wheel, respectively, and in an implementation, the mounting member may be added with an elastic shock absorbing structure, a link structure, a modified driven wheel structure itself, or other manners known in the art to enhance the adaptive performance. The first driven wheel assembly 13 and the second driven wheel assembly 23 may be symmetrically disposed with respect to each other. Mounting of the driven wheels, in one form, first driven wheel assembly 13 and/or second driven wheel assembly 23 may each include one or more driven wheels independently mounted at different locations by independent mounting members. For example: the mounting member may include a mounting cavity fixedly mounted to the first chassis body 11 and/or the second chassis body 21, the first chassis body 11 and/or the second chassis body 21 may be provided with a mounting through hole, and the driven wheels of the first driven wheel assembly 13 and the second driven wheel assembly 23 may be detachably mounted in the mounting cavity through the mounting through hole and a connector, respectively. In other forms, first driven wheel assembly 13 and/or second driven wheel assembly 23 include at least two driven wheels that are interconnected and grounded at different locations by a mounting member. In addition, other existing mounting forms for the driven wheel, or combinations of the above, are also within the scope of the present application.
An articulating link may be interpreted to include links having rotational degrees of freedom and may include links having translational degrees of freedom in addition to rotational degrees of freedom. As shown in fig. 5-6, the connecting unit 3 may have one or more movable joints. The angle changeable movable connection relation between the first bottom surface and the second bottom surface can comprise rotation of a shaft center parallel to the traveling direction and/or rotation of a horizontally arranged shaft center perpendicular to the traveling direction, and other implementation manners. In particular, the connection with rotational freedom may include a hinge, a pin joint, a ball joint, a mesh connection, or other forms that may enable a rotational connection. Having translational degrees of freedom, which may include translation along the direction of travel, and/or translation in a horizontally disposed direction perpendicular to the direction of travel, may be a sliding connection or other conventional connection. The angle between the first bottom surface and the second bottom surface can be changed to adapt to the unevenness of the ground, so that the bearing capacity of the self-adaptive chassis is improved.
As shown in fig. 1, in some embodiments, the specific installation relationship may be: the first chassis body 11 and the second chassis body 21 are arranged side by side in the front and rear direction in the traveling direction; the first drive wheel assembly 12 and the second drive wheel assembly 22 are oppositely disposed side by side perpendicular to the direction of travel; the first driven wheel assembly 13 is arranged at the end part of the first chassis body 11, and the second driven wheel assembly 23 is arranged at the end part of the second chassis body 21; first drive wheel assembly 12 and second drive wheel assembly 22 are located between first driven wheel assembly 13 and second driven wheel assembly 23.
As a specific embodiment, the first chassis body 11 and the second chassis body 21 have a degree of freedom of rotation around a first direction, and the first driven wheel assembly 13 and the second driven wheel assembly 23 can float relatively; preferably, the first direction is perpendicular to the traveling direction of the chassis.
Therefore, the first driven wheel assembly 13 mounted on the first chassis body 11 and the second driven wheel assembly 23 mounted on the second chassis body 21 can float with the ground, and can land on the ground at the same time, which is beneficial to improving the capability of the adaptive chassis to adapt to different terrains.
Wherein the first chassis body 11 and the second chassis body 21 have a degree of freedom of rotation about a first direction. The first direction is perpendicular to the traveling direction of the chassis, and the first direction is located in a plane perpendicular to the traveling direction. In some embodiments, the first chassis body 11 and the second chassis body 21 may rotate along a fixed axis disposed perpendicularly to the traveling direction. In some embodiments, the first chassis body 11 and the second chassis body 21 may also rotate along an indefinite axis disposed perpendicular to the direction of travel.
As a specific embodiment, the connecting unit 3 includes a rotating shaft, a first shaft seat mounted on the first chassis body 11, and a second shaft seat mounted on the second chassis body 21; the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft;
or, the connecting unit 3 includes a rotating shaft, a first shaft seat and a second shaft seat mounted on the first chassis body 11, and a first shaft seat and a second shaft seat mounted on the second chassis body 21; the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft; and the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft.
Wherein the first shaft base can be mounted to the first chassis body 11 in a screw-on manner, and the second shaft base can be mounted to the second chassis body 21 in a screw-on manner.
Alternatively, the first shaft base may be mounted to the first chassis body 11 and the second chassis body 21 in a screwed manner, and the second shaft base may be mounted to the first chassis body 11 and the second chassis body 21 in a screwed manner. The first shaft seat and the second shaft seat may have differences in size, shape or material, and the chassis can be better balanced by adopting a mode that the first shaft seat and the second shaft seat are arranged along the center of the middle point of the rotating shaft in a central symmetry manner. For example, as shown in fig. 1, the number of the first shaft seats is 4, and the number of the second shaft seats is 2. 2 first shaft seats and 1 second shaft seat are arranged on the first chassis body 21; the second chassis body 22 is provided with 2 first shaft seats and 1 second shaft seat. The second shaft base is arranged among the 2 first shaft bases. In a specific embodiment, the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft so as to ensure the balance of the whole chassis.
The rotating shaft can be a fixed shaft or an unfixed shaft. The first shaft seat and the second shaft seat are rotatably connected through a rotating shaft and rotate along the rotating shaft, so that a relatively stable hinged or movable connection relationship can be formed.
As a specific implementation form of the above-mentioned connection relationship, the first chassis body 11 and the second chassis body 21 have a degree of freedom of rotation in the second direction, and the first driving wheel assembly 12 and the second driving wheel assembly 22 can float relatively; preferably, the second direction is parallel to the traveling direction of the chassis.
In addition, if the rotating shaft is a fixed shaft, at this time, the first chassis unit 1 and the second chassis unit 2 are hinged, and the first chassis body 11 and the second chassis body 21 are hinged. More specifically, in an implementation solution, a bearing sleeve may be further disposed between the rotating shaft and the first shaft seat or the second shaft seat.
As another specific implementation form of the above-mentioned connection relationship, the first chassis unit 1 and the second chassis unit 2 have a rotational degree of freedom to rotate around a first direction.
In addition, if the rotating shaft is an indefinite axis, the first chassis body 11 and the second chassis body 21 have a degree of freedom of rotation in a first direction, and the first driven wheel assembly 13 and the second driven wheel assembly 23 can float relatively; wherein, the first direction is perpendicular to the traveling direction of the chassis, so the first driving wheel assembly 12 and the second driving wheel assembly 22 can move up and down in a plane perpendicular to the traveling direction.
For example, please refer to the following embodiments: in one embodiment, the connection unit 3 includes a rotating shaft, a first shaft seat mounted on the first chassis body 11, and a second shaft seat mounted on the second chassis body 21; the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft can movably penetrate through the first shaft hole and the second shaft hole; wherein, the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down;
or the like, or, alternatively,
the connecting unit 3 comprises a rotating shaft, a first shaft seat and a second shaft seat which are arranged on the first chassis body 11, and a first shaft seat and a second shaft seat which are arranged on the second chassis body 21; the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft can movably penetrate through the first shaft hole and the second shaft hole; the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft; the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down.
The first shaft hole and/or the second shaft hole have a space allowing the rotation shaft to move up and down, and can provide a degree of freedom of rotation about the second direction in a plane perpendicular to the traveling direction.
In one embodiment, a mounting gap is formed between the first shaft seat and the second shaft seat; and a clamping fixing piece is arranged in the mounting gap so as to restrict the relative movement of the first chassis body 11 and the second chassis body 21.
The clamping fixing piece can be a shaft sleeve, a gasket or other materials.
In one embodiment, at least one of the first drive wheel assembly 12 and the second drive wheel assembly 22, the first driven wheel assembly 13 and the second driven wheel assembly 23 are disposed in at least three mounting locations that are non-collinear.
More specifically, the first drive wheel assembly 12 or the second drive wheel assembly 22 are arranged in a triangular arrangement with the first driven wheel assembly 13 and the second driven wheel assembly 23, respectively. The first driving wheel assembly 12 provided on the first chassis body 11 and/or the second driving wheel assembly 22 provided on the second chassis body 21, and the first driven wheel assembly 13 and the second driven wheel assembly 23 respectively provided on the first chassis body 11 and the second chassis body 21 can be balanced at three vertexes of a triangle, thereby achieving stable support. Further enhancing the bearing capacity of the self-adaptive chassis.
In one embodiment, first drive wheel assembly 12 includes at least one first drive wheel 121, and first driven wheel assembly 13 includes at least one first driven wheel 131;
and/or the presence of a gas in the gas,
the second drive wheel assembly 22 includes at least one second drive wheel 221 and the second driven wheel assembly 23 includes at least one second driven wheel 231.
At this time, due to the first driving wheel assembly 12, the second driving wheel assembly 22, the first driven wheel assembly 13, and the second driven wheel assembly 23, at least four different fulcrums of the chassis may be formed, and the four fulcrums are the simplest form of the adaptive chassis implementation form.
As an embodiment, the first driving wheel assembly 12 includes at least one first driving wheel 121, and the first driven wheel assembly 13 includes at least two first driven wheels 131; the first driven wheel 131 and the first driving wheel 121 are matched to form at least three non-collinear supporting points;
and/or the presence of a gas in the gas,
said second drive wheel assembly 22 comprises at least one second drive wheel 221 and said second driven wheel assembly 23 comprises at least two second driven wheels 231; the second driven wheel 231 cooperates with the second driving wheel 221 to form at least three non-collinear pivot points.
The first driven wheel 131 and the first driving wheel 121 are matched to form at least three non-collinear supporting points; thereby, the stability of the first chassis unit 1 supported on the ground is enhanced. The second driven wheel 231 cooperates with the second drive wheel 221 to form at least three non-collinear pivot points. Thereby, the stability on which the second chassis unit 2 is supported is enhanced. To prevent the first chassis unit 1 or the second chassis unit 2 from overturning or rolling over when the load bearing load is greatly different. Therefore, the balance, stability and load capacity of the whole adaptive chassis can be improved.
More specifically, the first driven wheel assembly 13 may be configured to include at least two first driven wheels 131 connected to each other, or may include at least two independent first driven wheels 131, or a combination of a first driven wheel 131 and an independent first driven wheel 131 in a connected relationship. For example, the at least two first driven wheels 131 having a connection relationship may be in the form of two driven wheels connected to two ends of an adjusting lever, and the adjusting lever may dynamically adjust the first driven wheels 131 so that the first driven wheels 131 are attached to the ground, but is not limited to this form.
Similarly, the second driven wheel assembly 23 can also have the structure as described above for the first driven wheel assembly 13, and therefore, the description thereof is omitted. The first driven wheel assembly 13 and the second east wheel assembly may be of the same construction, or of different constructions, and are not limited.
As a specific embodiment, the first driven wheel assembly 13 and the second driven wheel assembly 23 are respectively arranged at two sides of the axis of the driving wheel; wherein the drive wheel axis connects the first drive wheel assembly 12 and the second drive wheel assembly 22.
Therefore, the balance performance of two sides of the axis of the driving wheel is enhanced, and the balance, stability and load capacity of the whole self-adaptive chassis can be improved.
As an implementation mode, a point of the adaptive chassis in horizontal projection is taken as a central point;
the mounting position of the first driven wheel assembly 13 on the first chassis body 11 and the mounting position of the second driven wheel assembly 23 on the second chassis body 21 are arranged to be centrosymmetric with respect to the center point;
and/or the presence of a gas in the gas,
the mounting position of the first driving wheel assembly 12 on the first chassis body 11 and the mounting position of the second driving wheel assembly 22 on the second chassis body 21 are arranged symmetrically with respect to the center point.
The central symmetry arrangement can balance the self-adaptive capacity and the load capacity of the first chassis unit 1 and the second chassis unit 2, and further can improve the balance, the stability and the load capacity of the whole self-adaptive chassis.
In a second aspect, the present application relates to a mobile robot having an adaptive chassis, comprising:
as shown in fig. 7, the adaptive chassis according to any one of the first aspect comprises a first chassis unit 1 including a first chassis body 11, and a first driving wheel assembly 12 and a first driven wheel assembly 13 mounted to the first chassis body 11; a second chassis unit 2 including a second chassis body 21, and a second driving wheel assembly 22 and a second driven wheel assembly 23 mounted to the second chassis body 21; wherein, the first chassis body 11 is movably connected with the second chassis body 21, and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly 12 and the second driving wheel assembly 22 are arranged at two opposite sides of the self-adaptive chassis at intervals;
the supporting mechanism 4 is arranged on the self-adaptive chassis; the supporting mechanism 4 is provided with a first connecting position connected with the first chassis unit 1 and a second connecting position connected with the second chassis unit 2; the first connecting part is movably connected with the first chassis unit 1, and/or the second connecting part is movably connected with the second chassis unit 2;
and a support part 5 provided on the support mechanism 4.
The adaptive chassis should be considered as the description of the technical features and the combination thereof in the embodiment of the first aspect, and the technical principle and the technical effect thereof are the same, and therefore, the description thereof is omitted.
In addition, the adaptive chassis described in the present application may have better adaptive capacity, and the movable connection makes the connection relationship between the first chassis unit 1 and the second chassis unit 2 more flexible and has a smaller limitation in the adjustment direction. Therefore, considering that the support mechanism 4 is connected to the first chassis unit 1 and the second chassis unit 2, at least one of the first connection point and the second connection point thereof should not be fixed, and should have a movable connection with the floating of the chassis, otherwise the flexibility of the chassis may be limited.
As an embodiment, the first chassis unit 1 or the second chassis unit 2 further comprises an adjusting mechanism 14; the adjustment mechanism 14 comprises a mounting plate arranged along the non-travel direction; the mounting plate is rotatably connected with the first chassis body 11 or the second chassis body 21 through a rotary connection part;
the first connection point or the second connection point of the supporting mechanism 4 comprises two pivot points arranged at intervals along the non-travel direction; the two supporting points are positioned on the mounting plate and are respectively positioned at two sides of the rotating connection part;
the two supporting points can float relatively along with the rotation of the mounting plate.
The adjustment mechanism 14 can improve the flexibility between the support mechanism 4 and the first chassis unit 1 or the second chassis unit 2. The non-travel direction may be, in particular, the first direction (i.e., perpendicular to the travel direction) described in the first embodiment of the present application.
Specifically, as shown in fig. 7, the first chassis body 11 or the second chassis body 21 is provided with a shaft seat, and the adjusting mechanism 14 includes a mounting plate mounted on the shaft seat through a bearing to realize rotational connection. In order to increase the amplitude of the rotational swing, through holes may be provided in the first chassis body 11 and the second chassis body 21 to facilitate greater adjustment space in height at both ends of the mounting plate.
As an embodiment, the supporting mechanism 4 is a movable lifting structure;
the mobile robot further comprises:
the driving mechanism is arranged on the self-adaptive chassis;
wherein at least one of the supporting mechanism 4 and the supporting portion 5 is driven by the driving mechanism to make the supporting portion 5 approach or separate from the adaptive chassis.
As an embodiment, as shown in fig. 8, the supporting mechanism 4 includes:
a first support member 41 and a second support member 42 arranged crosswise; the first end of the first supporting component 41 is rotatably connected with the first chassis body 11, and the second end is connected with the supporting part 5 in a displacement manner; the first end of the second supporting component 42 is rotatably connected with the supporting part 5, and the second end is connected with the second chassis body 21 in a displacement way; the first support member 41 and the second support member 42 have a rotational connection.
In this embodiment, as shown in fig. 9, the supporting mechanism 4 can be understood as a scissors form, which has good stability, reliable structure and strong performance advantage. Due to the flexible and reliable structure, the self-adaptive chassis is a better matching scheme with the self-adaptive chassis in the first aspect of the application, and better flexibility and self-adaptive performance can be improved by matching the self-adaptive chassis and the self-adaptive chassis.
As an embodiment, as shown in fig. 7, the supporting mechanism 4 includes:
the first supporting assembly 41 comprises a first connecting part and a second connecting part which are hinged to each other at a first hinge point, the first connecting part is rotatably connected with the supporting part 5, and the second connecting part is rotatably connected with the first chassis body 11;
the second supporting assembly 42 comprises a third connecting part and a fourth connecting part which are hinged to each other at a second hinge point, the third connecting part is rotatably connected with the supporting part 5, and the fourth connecting part is rotatably connected with the second chassis body 21;
wherein, the first supporting component 41 and the second supporting component 42 are arranged at intervals;
and two ends of the connecting component are respectively hinged with the first hinge point and the second hinge point.
In this embodiment, the support mechanism 4 can be understood as a form of parallel connecting rods, which has low cost, simple and reliable structure and strong performance advantage. Due to the flexible structure and the large adjustability, the self-adaptive chassis is a better matching scheme with the self-adaptive chassis in the first aspect of the application, and the better flexibility and the better self-adaptive performance can be improved by matching the self-adaptive chassis and the self-adaptive chassis.
In the two practical technical solutions, the driving device includes a motor and a crank-link structure, the motor is mounted on the base, the crank-link structure includes a hinged crank and a connecting rod, the crank can be driven by the motor, and the connecting rod is hinged with at least one of the first supporting component 41, the second supporting component 42 and the supporting portion 5.
The supporting mechanism 4 further comprises a first connecting rod assembly and a second connecting rod assembly which are mutually rotatably connected, and the first connecting rod assembly is rotatably connected with the first supporting assembly 41; the second linkage assembly is pivotally connected to the second support assembly 42.
In the description herein, reference to the term "one embodiment," "some embodiments," "a specific example," or "one implementable technical solution" or the like means 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 present 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. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (19)
1. An adaptive chassis, comprising:
a first chassis unit (1) comprising a first chassis body (11), and a first driving wheel assembly (12) and a first driven wheel assembly (13) mounted to said first chassis body (11); the first chassis body (11) is provided with a first bottom surface;
a second chassis unit (2) including a second chassis body (21), and a second driving wheel assembly (22) and a second driven wheel assembly (23) mounted to the second chassis body (21); the second chassis body (21) is provided with a second bottom surface;
and, a connection unit (3);
wherein the first chassis unit (1) and the second chassis unit (2) are movably connected through the connecting unit (3), and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly (12) and the second driving wheel assembly (22) are arranged on two opposite sides of the self-adaptive chassis at intervals.
2. An adaptive chassis according to claim 1,
the first chassis body (11) and the second chassis body (21) have freedom of rotation in a first direction, and the first driven wheel assembly (13) and the second driven wheel assembly (23) can float relative to each other.
3. An adaptive chassis according to claim 2, wherein the first direction is perpendicular to the direction of travel of the chassis.
4. An adaptive chassis according to claim 2,
the connecting unit (3) comprises a rotating shaft, a first shaft seat arranged on the first chassis body (11) and a second shaft seat arranged on the second chassis body (21); the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft;
or the like, or, alternatively,
the connecting unit (3) comprises a rotating shaft, a first shaft seat and a second shaft seat which are arranged on the first chassis body (11), and a first shaft seat and a second shaft seat which are arranged on the second chassis body (21); the first shaft seat and the second shaft seat are connected in a rotating mode around the first direction through the rotating shaft; and the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft.
5. An adaptive chassis according to claim 4,
a mounting gap is formed between the first shaft seat and the second shaft seat; and a clamping fixing piece is arranged in the mounting gap so as to restrict the relative movement of the first chassis body (11) and the second chassis body (21).
6. An adaptive chassis according to claim 1 or 2,
the first chassis body (11) and the second chassis body (21) have freedom of rotation around a second direction, and the first driving wheel assembly (12) and the second driving wheel assembly (22) can float relatively.
7. An adaptive chassis according to claim 6, wherein said second direction is parallel to the direction of travel of said chassis.
8. An adaptive chassis according to claim 6,
the connecting unit (3) comprises a rotating shaft, a first shaft seat arranged on the first chassis body (11) and a second shaft seat arranged on the second chassis body (21); the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft penetrates through the first shaft hole and the second shaft hole; wherein, the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down;
or the like, or, alternatively,
the connecting unit (3) comprises a rotating shaft, a first shaft seat and a second shaft seat which are arranged on the first chassis body (11), and a first shaft seat and a second shaft seat which are arranged on the second chassis body (21); the first shaft seat is provided with a first shaft hole, and the second shaft seat is provided with a second shaft hole; the rotating shaft penetrates through the first shaft hole and the second shaft hole; the first shaft seat and the second shaft seat are arranged symmetrically along the center of the middle point of the rotating shaft; the first shaft hole and/or the second shaft hole are/is provided with a space allowing the rotating shaft to move up and down.
9. An adaptive chassis according to claim 6,
a mounting gap is formed between the first shaft seat and the second shaft seat; and a clamping fixing piece is arranged in the mounting gap so as to restrict the relative movement of the first chassis body (11) and the second chassis body (21).
10. An adaptive chassis according to claim 1,
at least one of the first drive wheel assembly (12) and the second drive wheel assembly (22), the first driven wheel assembly (13), and the second driven wheel assembly (23) are disposed in at least three mounting locations that are non-collinear.
11. An adaptive chassis according to claim 1,
said first driving wheel assembly (12) comprising at least one first driving wheel (121), said first driven wheel assembly (13) comprising at least one first driven wheel (131);
and/or the presence of a gas in the gas,
the second driving wheel assembly (22) comprises at least one second driving wheel (221) and the second driven wheel assembly (23) comprises at least one second driven wheel (231).
12. An adaptive chassis according to claim 1,
said first driving wheel assembly (12) comprising at least one first driving wheel (121), said first driven wheel assembly (13) comprising at least two first driven wheels (131); the first driven wheel (131) and the first driving wheel (121) are matched to form at least three non-collinear supporting points;
and/or the presence of a gas in the gas,
said second driving wheel assembly (22) comprises at least one second driving wheel (221), said second driven wheel assembly (23) comprises at least two second driven wheels (231); the second driven wheel (231) and the second driving wheel (221) are matched to form at least three non-collinear supporting points.
13. An adaptive chassis according to claim 1,
the first driven wheel component (13) and the second driven wheel component (23) are respectively arranged at two sides of the axis of the driving wheel; wherein the drive wheel axis connects the first drive wheel assembly (12) and the second drive wheel assembly (22).
14. An adaptive chassis according to claim 1 or 13,
taking one point in the horizontal projection of the self-adaptive chassis as a central point;
the mounting position of the first driven wheel assembly (13) on the first chassis body (11) and the mounting position of the second driven wheel assembly (23) on the second chassis body (21) are arranged in a central symmetry manner with respect to the central point;
and/or the presence of a gas in the gas,
the installation position of the first driving wheel assembly (12) on the first chassis body (11) and the installation position of the second driving wheel assembly (22) on the second chassis body (21) are arranged in a central symmetry mode relative to the central point.
15. A mobile robot having an adaptive chassis, comprising:
the adaptive chassis according to any one of claims 1-11, comprising a first chassis unit (1) comprising a first chassis body (11), and a first drive wheel assembly (12) and a first driven wheel assembly (13) mounted to said first chassis body (11); a second chassis unit (2) including a second chassis body (21), and a second driving wheel assembly (22) and a second driven wheel assembly (23) mounted to the second chassis body (21); wherein, the first chassis body (11) is movably connected with the second chassis body (21), and the angle between the first bottom surface and the second bottom surface can be changed; the first driving wheel assembly (12) and the second driving wheel assembly (22) are arranged on two opposite sides of the self-adaptive chassis at intervals;
the supporting mechanism (4) is arranged on the self-adaptive chassis; the supporting mechanism (4) is provided with a first connecting part connected with the first chassis unit (1) and a second connecting part connected with the second chassis unit (2); the first connection is movably connected with the first chassis unit (1), and/or the second connection is movably connected with the second chassis unit (2);
and a support part (5) arranged on the support mechanism (4).
16. A mobile robot having an adaptive chassis according to claim 15,
the first chassis unit (1) or the second chassis unit (2) further comprises an adjusting mechanism (14); the adjusting mechanism (14) comprises a mounting plate arranged along the non-travelling direction; the mounting plate is rotatably connected with the first chassis body (11) or the second chassis body (21) through a rotating connection part;
the first connection point or the second connection point of the supporting mechanism (4) comprises two supporting points which are arranged at intervals along the non-advancing direction; the two supporting points are positioned on the mounting plate and are respectively positioned at two sides of the rotating connection part;
the two supporting points can float relatively along with the rotation of the mounting plate.
17. A mobile robot having an adaptive chassis according to claim 15,
the supporting mechanism (4) is a movable lifting structure;
the mobile robot further comprises:
the driving mechanism is arranged on the self-adaptive chassis;
wherein at least one of the support mechanism (4) and the support portion (5) is driven by the driving mechanism to enable the support portion (5) to approach or depart from the adaptive chassis.
18. A mobile robot having an adaptive chassis according to claim 17,
the support mechanism (4) comprises:
a first supporting component (41) and a second supporting component (42) which are arranged in a crossed manner; the first end of the first supporting component (41) is rotationally connected with the first chassis body (11), and the second end of the first supporting component is in displacement connection with the supporting part (5); the first end of the second supporting component (42) is in rotary connection with the supporting part (5), and the second end of the second supporting component is in displacement connection with the second chassis body (21); the first supporting component (41) and the second supporting component (42) are in rotary connection.
19. A mobile robot having an adaptive chassis according to claim 17,
the support mechanism (4) comprises:
the first supporting assembly (41) comprises a first connecting part and a second connecting part which are hinged to each other at a first hinge point, the first connecting part is rotatably connected with the supporting part (5), and the second connecting part is rotatably connected with the first chassis body (11);
the second supporting assembly (42) comprises a third connecting part and a fourth connecting part which are hinged to each other at a second hinge point, the third connecting part is rotatably connected with the supporting part (5), and the fourth connecting part is rotatably connected with the second chassis body (21);
wherein the first support component (41) and the second support component (42) are arranged at intervals;
and two ends of the connecting component are respectively hinged with the first hinge point and the second hinge point.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022201798061 | 2022-01-24 | ||
| CN202220179806 | 2022-01-24 |
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| CN115837947A true CN115837947A (en) | 2023-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222297677.9U Active CN220032085U (en) | 2022-01-24 | 2022-08-30 | Self-adaptive chassis and mobile robot |
| CN202211051523.XA Pending CN115837947A (en) | 2022-01-24 | 2022-08-30 | Self-adaptive chassis and mobile robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222297677.9U Active CN220032085U (en) | 2022-01-24 | 2022-08-30 | Self-adaptive chassis and mobile robot |
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| CN (2) | CN220032085U (en) |
| WO (1) | WO2023137942A1 (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386160A (en) * | 2014-09-24 | 2015-03-04 | 北京林业大学 | Hinge structure and chassis with same |
| US10921819B2 (en) * | 2018-08-28 | 2021-02-16 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
| CN209321102U (en) * | 2018-09-30 | 2019-08-30 | 杭州海康机器人技术有限公司 | The chassis of automated guided vehicle and automated guided vehicle |
| CN211408233U (en) * | 2019-06-28 | 2020-09-04 | 坎德拉（深圳）科技创新有限公司 | Running gear and self-driven intelligent locker |
| CN112389545A (en) * | 2019-08-12 | 2021-02-23 | 锥能机器人（上海）有限公司 | Automated guided vehicle and vehicle chassis assembly |
| CN111776073A (en) * | 2020-07-24 | 2020-10-16 | 临沂临工智能信息科技有限公司 | AGV chassis structure |
| CN215398993U (en) * | 2021-04-22 | 2022-01-04 | 上海快仓自动化科技有限公司 | Ground self-adaptation double steering wheel drive AGV chassis |
| CN113306475A (en) * | 2021-07-16 | 2021-08-27 | 北京京东乾石科技有限公司 | Chassis assembly and automated guided vehicle |
| CN215558757U (en) * | 2021-07-21 | 2022-01-18 | 北京迈格威科技有限公司 | Transport vehicle |
-
2022
- 2022-05-31 WO PCT/CN2022/096438 patent/WO2023137942A1/en unknown
- 2022-08-30 CN CN202222297677.9U patent/CN220032085U/en active Active
- 2022-08-30 CN CN202211051523.XA patent/CN115837947A/en active Pending
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| WO2023137942A1 (en) | 2023-07-27 |
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