CN206446684U - Robot chassis - Google Patents
Robot chassis Download PDFInfo
- Publication number
- CN206446684U CN206446684U CN201720095014.5U CN201720095014U CN206446684U CN 206446684 U CN206446684 U CN 206446684U CN 201720095014 U CN201720095014 U CN 201720095014U CN 206446684 U CN206446684 U CN 206446684U
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- wheel
- damping
- damping wheel
- dynamic mount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000013016 damping Methods 0.000 claims abstract description 93
- 230000004888 barrier function Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Abstract
The utility model is related to robotic technology field, especially a kind of robot chassis, including casing, the both sides of casing are provided with damping, damping includes connecting plate and the preceding damping wheel group being sequentially arranged on connecting plate, middle damping wheel and rear damping wheel group, and connecting plate is fixed on the side of casing；Preceding damping wheel group and rear damping wheel group include at least two damping wheels, the first dynamic mount is provided between damping wheel and connecting plate, the upper end of first dynamic mount is hinged with connecting plate, the lower end of first dynamic mount rotates with damping wheel and is connected, the first damper is provided between first dynamic mount and connecting plate, the two ends of first damper are hinged with the first dynamic mount and connecting plate respectively, robot chassis structure of the present utility model is compact, preceding damping wheel group and rear damping wheel group can absorb the vibrations in crawler belt advance or fallback procedures respectively, so as to reduce the impact of barrier, so that traveling is more steady, the effective service life for improving chassis.
Description
Technical field
The utility model is related to robotic technology field, especially a kind of robot chassis.
Background technology
With the popularization of robot, robot has applied to all trades and professions, available for inspection exploration, rescues explosive, special type
Transport and it is extraordinary shoot etc., be that domestic fire-fighting domain, police fields, inspection field are made that tremendous contribution, existing robot
Caterpillar chassis can be typically used, there are flexible movements due to crawler belt, big with bottom surface adhesive force, barrier ability is passed through strong etc. excellent
Point, when pavement behavior is not good or needs to pass through barrier, crawler belt, so that chassis is shaken, can be influenceed bottom by foreign impacts
Even running and the reliably working of equipment are installed on disk, even device interior electrical equipment can be damaged sometimes, cause equipment malfunction,
Existing tracked shock mitigation system is complicated, and damping effect is poor, and cost is high.
Utility model content
The technical problems to be solved in the utility model is：In order to which the shock mitigation system structure for solving crawler belt in the prior art is answered
Miscellaneous, damping effect is poor, the problem of cost is high, now provides a kind of robot chassis.
The utility model solves the technical scheme that its technical problem used：A kind of robot chassis, including casing, institute
The front end both sides for stating casing are provided with front driving wheel, and the rear end both sides of the casing are provided with rear drive sprocket, positioned at casing
Crawler belt is provided between the front driving wheel and rear drive sprocket of the same side, the both sides of the casing are provided with damping, described
Damping includes connecting plate and the preceding damping wheel group being sequentially arranged on connecting plate, middle damping wheel and rear damping wheel group, described
Connecting plate is fixed on the side of casing；
The preceding damping wheel group and rear damping wheel group include at least two damping wheels, between the damping wheel and connecting plate
The first dynamic mount is provided with, the upper end of first dynamic mount is hinged with connecting plate, and the lower end of first dynamic mount is with subtracting
Shake wheel rotates connection, and the first damper, the two ends difference of the first damper are provided between first dynamic mount and connecting plate
Be hinged with the first dynamic mount and connecting plate, the first damper in the preceding damping wheel group is inclined upwardly from front to back, it is described after
The first damper in damping wheel group has A-P to tilt down；
The second dynamic mount, the upper end of second dynamic mount and connection are provided between the middle damping wheel and connecting plate
Plate is hinged, and the lower end of second dynamic mount rotates with middle damping wheel and is connected, and is set between second dynamic mount and connecting plate
The second damper is equipped with, the two ends of second damper are hinged with the second dynamic mount and connecting plate respectively, second damping
Device is inclined upwardly from front to back, and the damping wheel and middle damping wheel are against the inner surface of crawler belt hypomere.
When crawler belt advances in this programme, barrier to the impulsive force of crawler belt substantially with the first damper in preceding damping wheel group
Buffer direction consistent, therefore, preceding damping wheel group can preferably absorb the impact during robot advances, and same crawler belt is retreated
When, barrier is substantially consistent with the second buffer of damper direction in rear damping wheel group to the impulsive force of crawler belt, therefore, rear damping
Wheel group can preferably absorb the impact in robot fallback procedures, wherein, while using preceding damping wheel group, middle damping wheel and
Damping wheel group afterwards, be in order that spacing difference between two neighboring damping wheel is smaller, improve the stability of crawler belt operation.
In order to improve the stability of crawler belt operation, further, it is provided between the preceding damping wheel group and front driving wheel
Preceding BOGEY WHEEL, is provided with rear load-bearing wheel, between the preceding BOGEY WHEEL and connecting plate between the rear damping wheel group and rear drive sprocket
Preceding bearing frame is provided with, the lower end of the preceding bearing frame is rotated with preceding BOGEY WHEEL to be connected, the upper end of the preceding bearing frame and connection
Plate is fixedly connected, and the lower end of rear load-bearing frame described in rear load-bearing frame and rear load-bearing wheel are provided between the rear load-bearing wheel and connecting plate
Connection is rotated, the upper end of the rear load-bearing frame is fixedly connected with connecting plate, and the preceding bearing frame is inclined upwardly from front to back, described
Rear load-bearing frame is tilted down from front to back, and the preceding BOGEY WHEEL and rear load-bearing wheel are against the inner surface of crawler belt hypomere.
In order that obtaining crawler belt debugs into optimal operational condition, further, tensioner component, institute are provided with the connecting plate
Stating tensioner component includes expansion tightening wheel, the first supporting plate and the second supporting plate, upper end and the second supporting plate of first supporting plate
Upper end between rotated and connect by the 3rd bearing pin, the expansion tightening wheel is rotatably arranged on the 3rd bearing pin, first supporting plate
Lower end offer along its length be inserted with the first mounting hole, first mounting hole with its match first pin
Axle, first bearing pin is fixedly connected with connecting plate, and the lower end of second supporting plate offers the second waist along its length
The second bearing pin matched with it is inserted with shape hole, second mounting hole, second bearing pin is fixedly connected with connecting plate,
First supporting plate is symmetrically set with the second supporting plate, and cross bar, the cross bar are fixed between the first bearing pin and the second bearing pin
Middle part be fixed with vertical pole, the 3rd bearing pin and be fixed with fixed cover, the vertical pole is threadedly coupled with fixed cover, described
Expansion tightening wheel is against the inner surface of crawler belt epimere, is in advance threadedly coupled the vertical pole on cross bar with the fixed cover on the 3rd bearing pin,
And the spacing between the 3rd bearing pin and cross bar is regulated, then the first supporting plate, the second supporting plate and expansion tightening wheel are rotated and set
Put on the first bearing pin, be fixed in by the first bearing pin and the second bearing pin on connecting plate, expansion tightening wheel is against crawler belt epimere
Inner surface.
Further, first damper and the second damper include sleeve and slide bar, and the sliding bar is set
In the sleeve, spring, the elastic force direction of the spring and the axis direction of slide bar are provided between the slide bar and sleeve
Unanimously, one end of the spring is fixedly connected with slide bar, and the other end is fixed in sleeve.
The beneficial effects of the utility model are：Robot chassis structure of the present utility model is compact, preceding damping wheel group and after
Damping wheel group can absorb the vibrations in crawler belt advance or fallback procedures respectively, so as to reduce the impact of barrier so that traveling is more
Plus steady, the effective service life for improving chassis.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the schematic diagram on the utility model robot chassis；
Fig. 2 is the close-up schematic view of A in Fig. 1；
Fig. 3 is the schematic three dimensional views on the utility model robot chassis；
Fig. 4 is the schematic diagram of damper in the utility model robot chassis.
In figure：1st, casing, 2, front driving wheel, 3, rear drive sprocket, 4, crawler belt, 5, connecting plate, 6, preceding damping wheel group, 7, middle
Damping wheel, 8, rear damping wheel group, 9, damping wheel, the 10, first dynamic mount, the 11, first damper, the 12, second dynamic mount, 13,
Two dampers, 14, preceding BOGEY WHEEL, 15, rear load-bearing wheel, 16, preceding bearing frame, 17, rear load-bearing frame, 18, expansion tightening wheel, 19, first
Fagging, the 191, first mounting hole, the 20, second supporting plate, the 201, second mounting hole, the 21, the 3rd bearing pin, the 22, first bearing pin, 23,
Second bearing pin, 24, cross bar, 241, vertical pole, 25, fixed cover, 26, sleeve, 27, slide bar, 28, spring.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model, direction
With can be only used for helping the description to the feature in accompanying drawing with reference to (for example, upper and lower, left and right, etc.).Therefore, not in limit
Detailed description below is used in property meaning processed, and only by appended claims and its equivalents are asked to limit
The scope of the theme of protection.
Embodiment 1
As Figure 1-4, a kind of robot chassis, including casing 1, the front end both sides of casing 1 are provided with front driving wheel
2, the rear end both sides of casing 1 are provided with rear drive sprocket 3, between the front driving wheel 2 and rear drive sprocket 3 of the same side of casing 1
Crawler belt 4 is provided with, the both sides of casing 1 are provided with damping, and damping includes connecting plate 5 and is sequentially arranged at connecting plate 5
On preceding damping wheel group 6, middle damping wheel 7 and rear damping wheel group 8, connecting plate 5 is fixed on the side of casing 1；
Preceding damping wheel group 6 and rear damping wheel group 8 include two damping wheels 9, are respectively provided between damping wheel 9 and connecting plate 5
There is the first dynamic mount 10, upper end and the connecting plate 5 of the first dynamic mount 10 are hinged, 9 turns of lower end and the damping wheel of the first dynamic mount 10
Dynamic connection, is provided with the first damper 11 between the first dynamic mount 10 and connecting plate 5, the two ends of the first damper 11 are respectively with the
One dynamic mount 10 and connecting plate 5 are hinged, and the first damper 11 in preceding damping wheel group 6 is inclined upwardly from front to back, rear damping wheel
The first damper 11 in group 8 has A-P to tilt down；
The second dynamic mount 12, the upper end of the second dynamic mount 12 and connecting plate are provided between middle damping wheel 7 and connecting plate 5
5 are hinged, and the lower end of the second dynamic mount 12 rotates with middle damping wheel 7 and is connected, and is provided between the second dynamic mount 12 and connecting plate 5
Second damper 13, the two ends of the second damper 13 are hinged with the second dynamic mount 12 and connecting plate 5 respectively, the second damper 13 by
A-P is inclined upwardly, and damping wheel 9 and middle damping wheel 7 are against the inner surface of the hypomere of crawler belt 4.
BOGEY WHEEL 14 before being provided between preceding damping wheel group 6 and front driving wheel 2, between rear damping wheel group 8 and rear drive sprocket 3
Rear load-bearing wheel 15 is provided with, bearing frame 16 before being provided between preceding BOGEY WHEEL 14 and connecting plate 5, the lower end of preceding bearing frame 16 is with before
BOGEY WHEEL 14 rotates connection, and the upper end of preceding bearing frame 16 is fixedly connected with connecting plate 5, set between rear load-bearing wheel 15 and connecting plate 5
Rear load-bearing frame 17 is equipped with, the lower end of rear load-bearing frame 17 is rotated with rear load-bearing wheel 15 to be connected, upper end and the connecting plate 5 of rear load-bearing frame 17
Be fixedly connected, preceding bearing frame 16 is inclined upwardly from front to back, and rear load-bearing frame 17 is tilted down from front to back, preceding BOGEY WHEEL 14 and after
BOGEY WHEEL 15 is against the inner surface of the hypomere of crawler belt 4.
Tensioner component is provided with connecting plate 5, tensioner component there are two, and two tensioner components are located at preceding damping wheel group respectively
6 and the top of rear damping wheel group 8, tensioner component includes expansion tightening wheel 18, the first supporting plate 19 and the second supporting plate 20, the first support
Rotated and connected by the 3rd bearing pin 21 between the upper end of plate 19 and the upper end of the second supporting plate 20, expansion tightening wheel 18 is rotatably arranged on the
On three bearing pins 21, the lower end of the first supporting plate 19 is offered in the first mounting hole 191, the first mounting hole 191 along its length
The first bearing pin 22 matched with it is inserted with, the first bearing pin 22 is fixedly connected with connecting plate 5, the lower end edge of the second supporting plate 20
Its length direction offers the second bearing pin 23 for being inserted with and matching with it in the second mounting hole 201, the second mounting hole 201, the
Two bearing pins 23 are fixedly connected with connecting plate 5, and the first supporting plate 19 is symmetrically set with the second supporting plate 20, the first bearing pin 22 with
Cross bar 24 is fixed between second bearing pin 23, the middle part of cross bar 24, which is fixed with vertical pole 241, the 3rd bearing pin 21, to be fixed with
Surely 25 are covered, vertical pole 241 is threadedly coupled with fixed cover 25, expansion tightening wheel 18 is against the inner surface of the epimere of crawler belt 4, preceding damping wheel group 6
In two the first dampers 11 pass through respectively the first bearing pin 22 for being positioned above in tensioner component and the second bearing pin 23 with even
Fishplate bar 5 is hinged, it is same after two the first dampers 11 in damping wheel group 8 respectively by be positioned above in tensioner component the
One bearing pin 22 and the second bearing pin 23 are hinged with connecting plate 5, in advance by the fixation on the bearing pin 21 of vertical pole 241 and the 3rd on cross bar 24
Set 25 is threadedly coupled, and regulates the spacing between the 3rd bearing pin 21 and cross bar 24, then supports the first supporting plate 19, second
Plate 20 and expansion tightening wheel 18 are rotatably arranged on the first bearing pin 22, pass through the first bearing pin 22 and the company of being fixed in of the second bearing pin 23
On fishplate bar 5, expansion tightening wheel 18 is against the inner surface of the epimere of crawler belt 4.
First damper 11 and the second damper 13 include sleeve 26 and slide bar 27, and slide bar 27 is slidably arranged in sleeve 26
It is interior, spring 28 is provided between slide bar 27 and sleeve 26, the elastic force direction of spring 28 is consistent with the axis direction of slide bar 27, spring
28 one end is fixedly connected with slide bar 27, and the other end is fixed in sleeve 26.
The work on above-mentioned robot chassis is away from as follows：
The elastic of crawler belt 4 can be regulated beforehand through tensioner component when mounted, change vertical pole 241 and fixed cover 25 it
Between spacing can change the height of expansion tightening wheel 18, so as to change the elastic of crawler belt 4, when crawler belt 4 advances, barrier is to crawler belt 4
Impulsive force is substantially consistent with the first damper 11 buffering direction in preceding damping wheel group 6, and therefore, preceding damping wheel group 6 can be more preferable
The impact absorbed during robot advances, when same crawler belt 4 is retreated, barrier substantially subtracts to the impulsive force of crawler belt 4 with after
The the second damper 13 buffering direction shaken in wheel group 8 is consistent, and therefore, rear damping wheel group 8 can preferably absorb robot retrogressing
During impact, wherein, while using preceding damping wheel group 6, middle damping wheel 7 and rear damping wheel group 8, be in order that it is adjacent
Spacing difference between two damping wheels 9 is smaller, improves the stability that crawler belt 4 is run；
Above-mentioned is enlightenment according to desirable embodiment of the present utility model, passes through above-mentioned description, relevant staff
Various changes and amendments can be carried out in the range of without departing from this utility model technological thought completely.This practicality
New technical scope is not limited to the content on specification, it is necessary to determine that its is technical according to right
Scope.
Claims (4)
1. a kind of robot chassis, it is characterised in that：Including casing (1), the front end both sides of the casing (1) are provided with forerunner
Driving wheel (2), the rear end both sides of the casing (1) are provided with rear drive sprocket (3), the front driving wheel positioned at casing (1) the same side
(2) crawler belt (4) is provided between rear drive sprocket (3), the both sides of the casing (1) are provided with damping, the damping
Mechanism includes connecting plate (5) and the preceding damping wheel group (6) being sequentially arranged on connecting plate (5), middle damping wheel (7) and rear damping wheel
Group (8), the connecting plate (5) is fixed on the side of casing (1)；
The preceding damping wheel group (6) and rear damping wheel group (8) include at least two damping wheels (9), and the damping wheel (9) is with connecting
The first dynamic mount (10) is provided between fishplate bar (5), upper end and the connecting plate (5) of first dynamic mount (10) are hinged, institute
The lower end for stating the first dynamic mount (10) is connected with damping wheel (9) rotation, is set between first dynamic mount (10) and connecting plate (5)
The first damper (11) is equipped with, the two ends of the first damper (11) are hinged with the first dynamic mount (10) and connecting plate (5) respectively, institute
The first damper (11) before stating in damping wheel group (6) is inclined upwardly from front to back, and first in the rear damping wheel group (8) subtracts
Shake device (11) has A-P to tilt down；
The second dynamic mount (12) is provided between the middle damping wheel (7) and connecting plate (5), second dynamic mount (12)
Upper end is hinged with connecting plate (5), and the lower end of second dynamic mount (12) rotates with middle damping wheel (7) and is connected, and described second
Be provided with the second damper (13) between dynamic mount (12) and connecting plate (5), the two ends of second damper (13) respectively with
Second dynamic mount (12) and connecting plate (5) are hinged, and second damper (13) is inclined upwardly from front to back, the damping wheel
And middle damping wheel (7) is against the inner surface of crawler belt (4) hypomere (9).
2. robot chassis according to claim 1, it is characterised in that：The preceding damping wheel group (6) and front driving wheel (2)
Between be provided with preceding BOGEY WHEEL (14), be provided with rear load-bearing wheel (15) between the rear damping wheel group (8) and rear drive sprocket (3),
Preceding bearing frame (16) is provided between the preceding BOGEY WHEEL (14) and connecting plate (5), the lower end of the preceding bearing frame (16) is with before
BOGEY WHEEL (14) rotates connection, and the upper end of the preceding bearing frame (16) is fixedly connected with connecting plate (5), the rear load-bearing wheel (15)
Rear load-bearing frame (17) is provided between connecting plate (5), the lower end of the rear load-bearing frame (17) is rotated with rear load-bearing wheel (15) to be connected
Connect, the upper end of the rear load-bearing frame (17) is fixedly connected with connecting plate (5), the preceding bearing frame (16) is from front to back to updip
Tiltedly, the rear load-bearing frame (17) tilts down from front to back, and the preceding BOGEY WHEEL (14) and rear load-bearing wheel (15) are against crawler belt
(4) inner surface of hypomere.
3. robot chassis according to claim 1, it is characterised in that：Tensioner component is provided with the connecting plate (5),
The tensioner component includes expansion tightening wheel (18), the first supporting plate (19) and the second supporting plate (20), first supporting plate (19)
Upper end and the upper end of the second supporting plate (20) between rotated and be connected by the 3rd bearing pin (21), the expansion tightening wheel (18) rotation is set
Put on the 3rd bearing pin (21), the lower end of first supporting plate (19) offers the first mounting hole (191) along its length,
The first bearing pin (22) matched with it, first bearing pin (22) and connecting plate are inserted with first mounting hole (191)
(5) it is fixedly connected, the lower end of second supporting plate (20) offers the second mounting hole (201), described along its length
The second bearing pin (23) matched with it is inserted with two mounting holes (201), second bearing pin (23) is fixed with connecting plate (5)
Connection, the first supporting plate (19) is symmetrically set with the second supporting plate (20), the first bearing pin (22) and the second bearing pin (23) it
Between be fixed with cross bar (24), the middle part of the cross bar (24) is fixed with vertical pole (241), the 3rd bearing pin (21) fixed
There is fixed cover (25), the vertical pole (241) is threadedly coupled with fixed cover (25), and the expansion tightening wheel (18) is against crawler belt (4) epimere
Inner surface.
4. robot chassis according to claim 1, it is characterised in that：First damper (11) and the second damper
(13) sleeve (26) and slide bar (27) are included, the slide bar (27) is slidably arranged in the sleeve (26), the slide bar
(27) spring (28), the elastic force direction of the spring (28) and the axis direction one of slide bar (27) are provided between sleeve (26)
Cause, one end of the spring (28) is fixedly connected with slide bar (27), the other end is fixed in sleeve (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720095014.5U CN206446684U (en) | 2017-01-24 | 2017-01-24 | Robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720095014.5U CN206446684U (en) | 2017-01-24 | 2017-01-24 | Robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206446684U true CN206446684U (en) | 2017-08-29 |
Family
ID=59667163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720095014.5U Active CN206446684U (en) | 2017-01-24 | 2017-01-24 | Robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206446684U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108327809A (en) * | 2018-02-13 | 2018-07-27 | 洛阳理工学院 | Double-track robot mobile platform |
| CN109367635A (en) * | 2018-09-30 | 2019-02-22 | 湖南农夫机电有限公司 | A kind of crawler tractor damping |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN110626437A (en) * | 2019-11-19 | 2019-12-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
-
2017
- 2017-01-24 CN CN201720095014.5U patent/CN206446684U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108327809A (en) * | 2018-02-13 | 2018-07-27 | 洛阳理工学院 | Double-track robot mobile platform |
| CN108327809B (en) * | 2018-02-13 | 2023-08-01 | 洛阳理工学院 | Double-track robot moving platform |
| CN109367635A (en) * | 2018-09-30 | 2019-02-22 | 湖南农夫机电有限公司 | A kind of crawler tractor damping |
| CN109367635B (en) * | 2018-09-30 | 2020-07-14 | 湖南农夫机电有限公司 | Crawler tractor damper |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN110341818B (en) * | 2019-06-18 | 2020-10-20 | 中国农业机械化科学研究院 | Mobile robot and crawler-type chassis thereof |
| CN110626437A (en) * | 2019-11-19 | 2019-12-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
| CN110626437B (en) * | 2019-11-19 | 2020-03-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206446684U (en) | Robot chassis | |
| CN203172749U (en) | Moving base of crawler belt robot | |
| CN106335563A (en) | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism | |
| US7992660B2 (en) | Crawler vehicle | |
| CN207291549U (en) | One kind six takes turns AGV shock-absorbings chassis | |
| CN109931360A (en) | Attenuator device and rack | |
| RU2015155446A (en) | SNOWMOBILE SUSPENSION | |
| CN203793462U (en) | Crawler walking mechanism and chassis | |
| CN212580018U (en) | Crawler equipment | |
| CN209195403U (en) | Coalcutter video acquisition connection damping trolley | |
| CN210391360U (en) | Crawler walking wheel train and chassis assembly of tractor | |
| CN209342941U (en) | A kind of removable scanning means | |
| CN202243748U (en) | Overhead continuous track travelling system with suspending damping device | |
| CN115352490B (en) | Railway track crack detection device | |
| CN206984154U (en) | A kind of crawler belt elastic mechanism | |
| CN208789806U (en) | A kind of modularization robot | |
| CN207860305U (en) | A kind of new type of passive formula suspension | |
| CN107554632B (en) | A kind of bull-dozer crawler attachment with damping efficacy | |
| CN206086947U (en) | Compound formula multipurpose caterpillar base plate that bears | |
| CN210011811U (en) | Chassis frame and chassis assembly of crawler tractor | |
| KR100894566B1 (en) | Vibration absorbing apparatus of snow plow | |
| CN106926910A (en) | A kind of triangle crawler belt assist device | |
| CN210011812U (en) | Shock absorber and shock absorption system for tractor | |
| CN108116520A (en) | A kind of new type of passive formula suspension | |
| CN209813656U (en) | Movable bearing platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221229 Address after: North Section of Xinghuo Road, Economic and Technological Development Zone, Shenmu City, Yulin City, Shaanxi Province 719000 Patentee after: Shenmu Lingtian Intelligent Technology Co.,Ltd. Address before: 101149 building B, No.20, 25 Jingsheng south 2nd Street, Jinqiao Science and technology industrial base, Tongzhou Park, Zhongguancun Science and Technology Park, Tongzhou District, Beijing Patentee before: BEIJING TOPSKY CENTURY HOLDING Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240115 Address after: Area W, 1st Floor, Building A7, Safety Technology Industrial Park, East of Yinshan Road and South of Lijiang Road, Second Industrial Park, Xuzhou High-tech Industrial Development Zone, Xuzhou City, Jiangsu Province, 221100 Patentee after: Xuzhou Luban Intelligent Technology Co.,Ltd. Address before: North Section of Xinghuo Road, Economic and Technological Development Zone, Shenmu City, Yulin City, Shaanxi Province 719000 Patentee before: Shenmu Lingtian Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |