CN205837004U - Remote control chassis and ground mobile robot - Google Patents
Remote control chassis and ground mobile robot Download PDFInfo
- Publication number
- CN205837004U CN205837004U CN201620811854.2U CN201620811854U CN205837004U CN 205837004 U CN205837004 U CN 205837004U CN 201620811854 U CN201620811854 U CN 201620811854U CN 205837004 U CN205837004 U CN 205837004U
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- Prior art keywords
- wheel
- chassis
- remote control
- steering wheel
- transfer
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Abstract
A kind of remote control chassis, the steering wheel transfer including chassis, being arranged on described chassis and motor, described motor can be connected with wheel drive, is used for driving described vehicle wheel rotation；Described steering wheel transfer is arranged on described chassis, and can be connected with described wheel；Wherein, described steering wheel transfer can be in drive state or lock-out state according to the type selecting of described wheel；When described wheel is one-way wheel, described steering wheel transfer is in drive state, controls the swing realization of described one-way wheel and turns to；When described wheel is omni-directional wheel, described steering wheel transfer is in the lock state, and controlling described omni-directional wheel can not arbitrarily swing.This utility model further relates to a kind of ground mobile robot.
Description
Technical field
This utility model relates to robot field, particularly relates to a kind of remote control chassis and one has this remote control chassis
Ground mobile robot.
Background technology
Existing ground moving platform has different transfers and wheel knot according to the unusual of its local environment
Structure.Such as, if local environment is mountain region, field, the most typically use coordinating so that described ground moving of one-way wheel and transfer
Platform can turn to smoothly and advance；If local environment is indoor, the most typically use the car wheel structure of omni-directional wheel, it is not necessary to arrange and turn
To device, by controlling turning to and speed of each periphery driven pulley of omni-directional wheel, make finally to synthesize the direction in any requirement
One resultant force vector of upper generation thus ensure that described ground moving platform can freely move on the direction of final resultant force vector
Dynamic, and do not change the direction of wheel self.But, above-mentioned two situations are due to the difference of wheel, and the body structure of its correspondence is also
Different so that both uses are both limited by local environment, it is impossible to realize field and all can use with indoor.
Utility model content
In view of this, it is necessary to a kind of remote control chassis solving the problems referred to above and ground mobile robot are provided.
A kind of remote control chassis, the steering wheel transfer including chassis, being arranged on described chassis and motor,
Described motor can be connected with wheel drive, is used for driving described vehicle wheel rotation；
Described steering wheel transfer is arranged on described chassis, and can be connected with described wheel；
Wherein, described steering wheel transfer can be in drive state or locking according to the type selecting of described wheel
State；
When described wheel is one-way wheel, described steering wheel transfer is in drive state, controls described one-way wheel and swings
Realization turns to；When described wheel is omni-directional wheel, described steering wheel transfer is in the lock state, and controlling described omni-directional wheel can not
Arbitrarily swing.
Further, described motor and described wheel are the most multiple, described in each described motor correspondence driving one
Vehicle wheel rotation.
Further, the driving motor of described steering wheel transfer is in automatically controlled locking state, makes described steering wheel turn to dress
Put and be in the lock state；Or, described steering wheel transfer also includes electric-controlled locking mechanism, the transmission of described steering wheel transfer
Motor is in off-position, and described electric-controlled locking mechanism locks the drive mechanism of described steering wheel transfer or directly locks car
Wheel.
Further, described remote control chassis also includes multiple suspension, described suspension and described wheel one_to_one corresponding, each
Corresponding described wheel is connected to described chassis by described suspension.
Further, described suspension be wish-bone arm type suspension, trailing arm type suspension, Multi-link suspension, candle type suspension or wheat not
Inferior suspension.
Further, described remote control chassis also includes that obstacle avoidance system, described obstacle avoidance system are arranged on described chassis, uses
Described remote control chassis avoiding barrier is assisted in the driving process in described remote control chassis.
Further, described obstacle avoidance system include following at least one: vision sensor, ultrasonic sensor, laser thunder
Reach sensor；Or, described obstacle avoidance system is the compound obstacle avoidance system including dissimilar sensor.
Further, described remote control chassis also includes the motor mounting rack that multiple and described motor is corresponding, each described
Motor is erected on described chassis by a motor mounting rack.
A kind of ground mobile robot, including above-mentioned remote control chassis and the carrier for carry load, described carrier sets
It is placed on the chassis of described remote control chassis.
Further, described load include following at least one: video camera, photographing unit, life detectors, mechanical hand.
Further, described carrier include following at least one: The Cloud Terrace, support.
Relative to prior art, the remote control chassis of this utility model offer and ground mobile robot are due to described steering wheel
Transfer can control described remote control chassis and realize turning to when described wheel is one-way wheel, and is omnidirectional at described wheel
Dally during wheel, therefore, can replace, according to local environment, the wheel being connected with the chassis of described remote control chassis, and according to wheel class
Type optionally makes described steering wheel transfer be in transmission or lock-out state, and then described remote control chassis and ground are moved
Mobile robot realizes field and all can use with indoor；The remote control chassis control system that this utility model provides can be according to wheel class
The difference of type, switches to wheel control model corresponding with described wheel type so that described remote control chassis and ground moving
Robot realizes field and all can use with indoor.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the remote control chassis being provided with omni-directional wheel that this utility model the first embodiment provides.
Fig. 2 is the side view of the remote control chassis shown in Fig. 1.
Fig. 3 is the axonometric chart of the described remote control chassis after the omni-directional wheel in Fig. 1 replaces with one-way wheel.
Fig. 4 is the drive mechanism of the remote control chassis being provided with omni-directional wheel that this utility model the second embodiment provides
Axonometric chart.
Fig. 5 is the schematic diagram of the ground mobile robot provided in this utility model embodiment.
Fig. 6 is the flow chart of the control method of the chassis that this utility model embodiment provides.
Main element symbol description
Chassis 10,10a
Chassis 11,11a
Wheel 13
Steering wheel transfer 15
Motor 17
Driving motor 151
Drive mechanism 19,152
Suspension 12
Obstacle avoidance system 14
Obstacle detection part 141
Processor 143,103
Support member 16
Motor mounting rack 18
Active synchronization belt wheel 111
Timing Belt 112
Driven synchronous pulley 113
Cue ball shape driving member 114
Power transmission shaft 115
Secondary spherical driving member 116
Control system 101
Communicator 105
Vehicle frame 110,110a
Ground mobile robot 100
Chassis 10a
Carrier 20
Load 30
Following detailed description of the invention will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technical scheme in this utility model embodiment
It is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model, and not
It it is whole embodiments.Based on the embodiment in this utility model, those of ordinary skill in the art are not making creation
Property work premise under the every other embodiment that obtained, broadly fall into the scope of this utility model protection.
It should be noted that when assembly is referred to as " being fixed on " another assembly, and it can be directly on another assembly
Or assembly placed in the middle can also be there is.When an assembly is considered as " be connected to/be connected to " another assembly, and it can be
It is directly connected to another assembly or may be simultaneously present assembly placed in the middle, in the conceived case, it is also possible to being two assemblies
The most one-body molded.When an assembly is considered as " being arranged at " another assembly, and it can be to be set directly at another group
On part or may be simultaneously present assembly placed in the middle.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in territory is generally understood that is identical.At term used in the description of the present utility model it is simply herein
The purpose of specific embodiment is described, it is not intended that in limiting this utility model.Term as used herein " and/or " bag
Include the arbitrary and all of combination of one or more relevant Listed Items.
Below in conjunction with the accompanying drawings, embodiments more of the present utility model are elaborated.In the case of not conflicting, under
Feature in the embodiment stated and embodiment can be mutually combined.
It addition, the orientation term such as upper and lower, forward and backward occurred in present embodiment is with described remote control chassis or described
The normal operational attitude of ground mobile robot is reference, and thinks restrictive described in not answering.
Seeing also Fig. 1, Fig. 2 and Fig. 3, the remote control chassis 10 that this utility model embodiment provides includes chassis
11, wheel 13, steering wheel transfer 15 and motor 17.Described wheel 13 can alternatively be connected to described chassis 11.Described rudder
Machine transfer 15 and described motor 17 are arranged on described chassis 11.Described steering wheel transfer 15 and described motor 17 all can
Enough it is in transmission connection with described wheel 13.In present embodiment, described motor 17 and described wheel 13 are multiple, and described motor
17 are in transmission connection with described wheel 13 one_to_one corresponding.By drive mechanism 19 between each described motor 17 and corresponding wheel 13
Realization is in transmission connection.Each described motor 17 drives the described wheel 13 of correspondence to rotate.
Described wheel 13 can use omni-directional wheel or one-way wheel according to the different choice of local environment.Such as, when residing
When environment is mountain region, field, described wheel 13 uses one-way wheel；When local environment is indoor, described wheel 13 uses omnidirectional
Wheel.
Described steering wheel transfer 15 can be in drive state or locking according to the type selecting of described wheel 13
State.When described wheel 13 is one-way wheel, described steering wheel transfer 15 is in drive state；When described wheel 13 is omnidirectional
During wheel, described steering wheel transfer 15 is in the lock state, and controlling described wheel 13 can not arbitrarily swing.In present embodiment,
Described steering wheel transfer 15 includes driving motor 151 and drive mechanism 152.Described steering wheel transfer 15 is described by making
Driving motor is in automatically controlled locking state, makes described steering wheel transfer 15 be in the lock state.
Being appreciated that in other embodiments, described steering wheel transfer 15 also includes electric-controlled locking mechanism.When described rudder
When the driving motor 151 of machine transfer 15 is in off-position, described electric-controlled locking mechanism locks described steering wheel transfer
Drive mechanism 152 between 15 and described wheel 13 and/or directly lock described wheel 13, controlling described wheel 13 can not be random
Swing.
In illustrated embodiment, described remote control chassis 10 also includes multiple suspension 12.The plurality of suspension 12 is arranged on
On described chassis 11, and with the plurality of wheel 13 one_to_one corresponding.Each described suspension 12 is for by corresponding described wheel 13
It is connected to described chassis 11.Described suspension 12 can be wish-bone arm type suspension, trailing arm type suspension, Multi-link suspension, candle type suspension or
McPherson suspension.In present embodiment, described suspension 12 is McPherson suspension.
In present embodiment, described remote control chassis 10 also includes obstacle avoidance system 14.Described obstacle avoidance system 14 is arranged on institute
State on chassis 11, for helping described remote control chassis 10 avoiding barrier in the driving process of described remote control chassis 10.
Described obstacle avoidance system 14 include following at least one: vision sensor, ultrasonic sensor, laser radar sensor.This enforcement
In mode, described obstacle avoidance system 14 is the compound obstacle avoidance system including dissimilar sensor.In illustrated embodiment, described in keep away
Barrier system 14 includes multiple obstacle detection part 141 and at least one processor 143.The plurality of obstacle detection part 141 sets
Put on described chassis 11, and each described obstacle detection part 141 is between two described wheels 13.The plurality of barrier
Detection part 141 is respectively facing different directions, has different investigative ranges.The plurality of obstacle detection part 141 can be to regard
Sense sensor, ultrasonic sensor, laser radar sensor etc..The most in the illustrated embodiment, each described barrier
Detection part 141 includes binocular sensor and ultrasonic sensor.
At least one processor 143 described works individually or collaboratively.In present embodiment, described processor 143
It it is one.Described processor 143 is arranged on described chassis 11 and between the plurality of obstacle detection part 143.Described
Processor 143 communicates to connect with the plurality of obstacle detection part 141, and with described steering wheel transfer 15 and the plurality of electricity
Machine 17 is electrically connected with.Described processor 143 controls described rudder for the result of detection according to the plurality of obstacle detection part 141
Machine transfer 15 and the plurality of motor 17, and then control direct of travel and the gait of march of described remote control chassis 10.
Being appreciated that in other embodiments, described obstacle detection part 141 can be one.Now, described obstacle physical prospecting
Survey part 141 to rotate around the axis being perpendicular to described chassis 11.Preferably, described obstacle detection part 141 protrudes and is arranged on institute
State the middle part on chassis 11.
In present embodiment, described remote control chassis 10 also includes multiple support member 16.The plurality of support member 16 and institute
State multiple obstacle detection part 141 one_to_one corresponding.Each described support member 16 is for by corresponding described obstacle detection part 141
It is erected at projectedly on described chassis 11, in order to avoid owing to the self structure of described remote control chassis 10 blocks described obstacle detection
Part 141 affects the detection to barrier of the described obstacle detection part 141.
In illustrated embodiment, described remote control chassis 10 also includes multiple motor mounting rack 18.The plurality of motor is pacified
Shelve 18 with the plurality of motor 17 one_to_one corresponding.Corresponding described motor 17 is erected at institute by each described motor mounting rack 18
State on chassis 11.
Drive mechanism 19 is used to be connected between each described motor 17 with each described wheel 13.Described drive mechanism 19 can
Think belt gear, gear drive, Worm and worm-wheel gearing etc..
Described remote control chassis 10 also includes a control system 101.Described control system 101 includes processor 103, logical
(figure is not for T unit 105, wheel detector (not shown), multiple first electron speed regulator (not shown) and the second electron speed regulator
Show).
Described processor 103 can be one or more.In present embodiment, described processor 103 is one.Described control
The processor 103 of system 101 can be same processor with described processor 143, it is possible to each individually sets with described processor 143
Put.In present embodiment, described processor 103 is same processor with described processor 143.
Described communicator 105 is arranged on described chassis 11, is used for receiving remote signal.Described processor 103 and institute
State communicator 105 to communicate to connect.Described remote signal includes the control signal for representing described wheel type, and for table
Show the control signal of the kinestate of described wheel 13.The kinestate of described wheel 13 include following at least one: turn to, front
Enter, retreat, accelerate, slow down.
Described wheel detector communicates to connect with described processor 103, and described wheel detector is used for detecting wheel type,
And the information of described wheel type is sent to described processor 103.
The plurality of first electron speed regulator and the plurality of motor 17 one_to_one corresponding.The plurality of first electron speed regulator
Communicate to connect with described processor 103, and for controlling the plurality of motor 17 respectively.Described second electron speed regulator and institute
State processor 103 to communicate to connect, for controlling the steering wheel of described steering wheel transfer 15.
Illustrating in described embodiment, described remote control chassis 10 also includes vehicle frame 110.Described vehicle frame 110 is fixed on institute
State on chassis 11.Described suspension 12 is connected to described vehicle frame 110.Described vehicle frame 110 is used for carrying described steering wheel transfer 15,
Described obstacle avoidance system 14, described support member 16, described control system 101 and other components and parts, or other external devices, as taken the photograph
As head, mike, video camera, photographing unit, life detectors, mechanical hand etc..Described vehicle frame 110 can be monolayer, double-deck or multilamellar
Structure.In illustrated embodiment, described vehicle frame 110 is double-decker.In present embodiment, described steering wheel transfer 15 is arranged
Upper strata at described vehicle frame 110；The plurality of obstacle detection part 141 is erected at described vehicle frame by the plurality of support member 16
The upper strata of 110；Described communicator 19 is arranged on the upper strata of described vehicle frame 110；Described processor 143 is arranged on described vehicle frame
The intermediate layer of 110.
Being appreciated that in other embodiments, described vehicle frame 110 can omit, described steering wheel transfer 15, described avoidance
The components and parts that system 14, described support member 16, described control system 101 and other described chassis 10 of maintenance are properly functioning, or
Other external devices of person, such as photographic head, mike, video camera, photographing unit, life detectors, mechanical hand etc. also can directly be arranged
On described chassis 11.
Referring to Fig. 4, the drive mechanism of the remote control chassis that the second embodiment of the present utility model provides is that belt passes
Motivation structure, it includes active synchronization belt wheel 111, Timing Belt 112, driven synchronous pulley 113, cue ball shape tumbler 114, power transmission shaft
115 and secondary spherical driving member 116.Described active synchronization belt wheel 111 is connected to described motor 17.Described Timing Belt 112 transmission is even
Connect described active synchronization belt wheel 111 and described driven synchronous pulley 113.Described driven synchronous pulley 113 passes with described cue ball shape
Moving part 114 is in transmission connection.Described power transmission shaft 115 is in transmission connection described cue ball shape driving member 114 and the spherical driving member of described pair
116.The spherical tumbler of described pair is in transmission connection with described wheel 13.Described motor 17 drives described active synchronization belt wheel 111 turns
Dynamic.Described active synchronization belt wheel 111 drives described driven synchronous pulley 113 to rotate by described Timing Belt 112.Described driven same
Step belt wheel 113 drives the transmission of described power transmission shaft 115 by described cue ball shape driving member 114.Described power transmission shaft 115 drives described pair
Spherical driving member 116 rotates, and then drives described wheel 13 to rotate.
Referring to Fig. 5, this utility model also provides for a kind of ground mobile robot 100 and includes described chassis 10a and set
The carrier 20 being placed in described chassis 10a.Described carrier 20 is arranged on the chassis 11a of described chassis 10a.Preferably,
Described carrier 20 is arranged on the vehicle frame 110a of chassis 10a.Described carrier is used for carry load.Described carrier 20 includes as follows
At least one: The Cloud Terrace, support.Described load 30 include following at least one: video camera, photographing unit, life detectors, machinery
Hands.
Wherein, described chassis 10a can also the chassis 10 of each embodiment above-mentioned.
Referring to Fig. 6, this utility model also provides for the control method 600 of a kind of described remote control chassis 10.Described method
600 comprise the steps.
Step 601, obtains the wheel type of described remote control chassis 10.
The wheel type of described remote control chassis 10 includes omni-directional wheel, one-way wheel etc..The information of wheel type can by with
Family inputs, or is automatically sensed acquisition by sensor.Such as, the described wheel detector wheel class to described remote control chassis 10
Type detects, and the information of the described wheel type detected is sent to described processor 103.
Step 602, according to described wheel type, switches to wheel control model corresponding with described wheel type.
When the wheel type that described wheel detector detects is omni-directional wheel, described processor 103 and described second electricity
Sub-speed regulator communication, controls described second electron speed regulator and described steering wheel transfer 15 is dallied (locking)；When described wheel
When the wheel type that sensor detects is one-way wheel, described processor 103 and described second electron speed regulator communication, control institute
State the second electron speed regulator to be discharged by described steering wheel transfer 15.
Step 603, receives control signal, and controls the described chassis corresponding kinestate of entrance according to control signal.
In present embodiment, it is distant that the communicator 105 of described chassis 10 is received about described state of motion of vehicle
Control signal, and communicate with described processor 103.Described processor 103 and described first electron speed regulator communication, control the described end
Jiggering 10 enters corresponding kinestate.
Relative to prior art, the remote control chassis of this utility model offer and ground mobile robot are due to described steering wheel
Transfer can control described remote control chassis and realize turning to when described wheel is one-way wheel, and is omnidirectional at described wheel
Dally during wheel, therefore, can replace, according to local environment, the wheel being connected with the chassis of described remote control chassis, and according to wheel class
Type optionally makes described steering wheel transfer be in transmission or lock-out state, and then described remote control chassis and ground are moved
Mobile robot realizes field and all can use with indoor；The remote control chassis control system that this utility model provides can be according to wheel class
The difference of type, switches to wheel control model corresponding with described wheel type so that described remote control chassis and ground moving
Robot realizes field and all can use with indoor.
For the person of ordinary skill of the art, can be made other according to technology of the present utility model design various
Corresponding change and deformation, and all these change all should belong to this utility model scope of the claims with deformation.
Claims (11)
1. a remote control chassis, the steering wheel transfer including chassis, being arranged on described chassis and motor,
Described motor can be connected with wheel drive, is used for driving described vehicle wheel rotation；
Described steering wheel transfer is arranged on described chassis, and can be connected with described wheel；
Wherein, described steering wheel transfer can be in drive state or locking shape according to the type selecting of described wheel
State；
When described wheel is one-way wheel, described steering wheel transfer is in drive state, controls described one-way wheel and swings realization
Turn to；When described wheel is omni-directional wheel, described steering wheel transfer is in the lock state, and controlling described omni-directional wheel can not be random
Swing.
2. remote control chassis as claimed in claim 1, it is characterised in that described motor and described wheel are the most multiple,
Each described motor correspondence drives a described vehicle wheel rotation.
3. remote control chassis as claimed in claim 1, it is characterised in that the driving motor of described steering wheel transfer is in electricity
Control locking state, makes described steering wheel transfer be in the lock state；
Or, described steering wheel transfer also includes electric-controlled locking mechanism, and the driving motor of described steering wheel transfer is in disconnected
Electricity condition, described electric-controlled locking mechanism locks the drive mechanism of described steering wheel transfer or directly locks wheel.
4. remote control chassis as claimed in claim 1, it is characterised in that described remote control chassis also includes multiple suspension, institute
Stating suspension and described wheel one_to_one corresponding, corresponding described wheel is connected to described chassis by each described suspension.
5. remote control chassis as claimed in claim 4, it is characterised in that described suspension be wish-bone arm type suspension, trailing arm type suspension,
Multi-link suspension, candle type suspension or McPherson suspension.
6. remote control chassis as claimed in claim 1, it is characterised in that described remote control chassis also includes obstacle avoidance system, institute
State obstacle avoidance system to be arranged on described chassis, for assisting described remote control chassis in the driving process of described remote control chassis
Avoiding barrier.
7. remote control chassis as claimed in claim 6, it is characterised in that described obstacle avoidance system include following at least one: regard
Sense sensor, ultrasonic sensor, laser radar sensor；
Or, described obstacle avoidance system is the compound obstacle avoidance system including dissimilar sensor.
8. remote control chassis as claimed in claim 1, it is characterised in that described remote control chassis also includes multiple and described electricity
The motor mounting rack that machine is corresponding, each described motor is erected on described chassis by a motor mounting rack.
9. a ground mobile robot, it is characterised in that include the remote control chassis according to any one of claim 1-8 and
For the carrier of carry load, described carrier is arranged on the chassis of described remote control chassis.
10. ground mobile robot as claimed in claim 9, it is characterised in that described load include following at least one: take the photograph
Camera, photographing unit, life detectors, mechanical hand.
11. ground mobile robots as claimed in claim 9, it is characterised in that described carrier include following at least one: cloud
Platform, support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620811854.2U CN205837004U (en) | 2016-07-29 | 2016-07-29 | Remote control chassis and ground mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620811854.2U CN205837004U (en) | 2016-07-29 | 2016-07-29 | Remote control chassis and ground mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205837004U true CN205837004U (en) | 2016-12-28 |
Family
ID=57641711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620811854.2U Expired - Fee Related CN205837004U (en) | 2016-07-29 | 2016-07-29 | Remote control chassis and ground mobile robot |
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| CN (1) | CN205837004U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054501A (en) * | 2017-03-10 | 2017-08-18 | 上海大学 | A kind of adaptive dolly of unmanned complex road surface based on parallel institution |
| CN107414853A (en) * | 2017-08-02 | 2017-12-01 | 东南大学 | A kind of band turns to the robot water spray locomotive for following structure |
| CN108032927A (en) * | 2018-01-08 | 2018-05-15 | 丰耒（上海）智能科技有限公司 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
| WO2019052012A1 (en) * | 2017-09-13 | 2019-03-21 | 深圳市大疆创新科技有限公司 | Suspension assembly of chassis vehicle and chassis vehicle |
| CN109649686A (en) * | 2018-12-29 | 2019-04-19 | 中国科学院沈阳自动化研究所 | Celestial body detecting automatic obstacle avoiding mobile robot |
| CN111923720A (en) * | 2019-10-24 | 2020-11-13 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
-
2016
- 2016-07-29 CN CN201620811854.2U patent/CN205837004U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054501A (en) * | 2017-03-10 | 2017-08-18 | 上海大学 | A kind of adaptive dolly of unmanned complex road surface based on parallel institution |
| CN107414853A (en) * | 2017-08-02 | 2017-12-01 | 东南大学 | A kind of band turns to the robot water spray locomotive for following structure |
| WO2019052012A1 (en) * | 2017-09-13 | 2019-03-21 | 深圳市大疆创新科技有限公司 | Suspension assembly of chassis vehicle and chassis vehicle |
| CN108032927A (en) * | 2018-01-08 | 2018-05-15 | 丰耒（上海）智能科技有限公司 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
| CN109649686A (en) * | 2018-12-29 | 2019-04-19 | 中国科学院沈阳自动化研究所 | Celestial body detecting automatic obstacle avoiding mobile robot |
| CN111923720A (en) * | 2019-10-24 | 2020-11-13 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
| CN111923720B (en) * | 2019-10-24 | 2021-10-29 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
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