CN212044703U - Outdoor mobile chassis for mobile robot - Google Patents
Outdoor mobile chassis for mobile robot Download PDFInfo
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- CN212044703U CN212044703U CN202020579801.9U CN202020579801U CN212044703U CN 212044703 U CN212044703 U CN 212044703U CN 202020579801 U CN202020579801 U CN 202020579801U CN 212044703 U CN212044703 U CN 212044703U
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Abstract
The utility model relates to an outdoor removal chassis that is used for mobile robot belongs to mobile robot technical field. The chassis comprises a chassis body, four moving wheels, four speed reducing motors, a front suspension mechanism and a rear suspension mechanism; the front suspension mechanism and the rear suspension mechanism are the same suspension mechanism; each speed reducing motor drives one moving wheel; the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket and a connecting frame; the shock absorption adjusting suspension mechanism comprises a shock absorber, a swing rod mechanism and an adjusting rod mechanism; a pair of shock absorbing adjusting suspension mechanisms form two independent suspension mechanisms. When the movable damping device moves, the pair of shock absorbers are used for adjusting fluid damping according to different road surface bumping degrees so as to adapt to different road surface environments; the independent suspension mechanism corresponding to each moving wheel can buffer the impact of the road surface to the moving wheels, and the shock resistance of the outdoor moving chassis is improved. The utility model is suitable for a carry on the manipulator and implement mechanical operation, also be applicable to small-size cargo handling.
Description
Technical Field
The utility model belongs to the technical field of mobile robot, concretely relates to outdoor removal chassis for mobile robot.
Background
At present, with the development of mechanical, automatic and computer technologies, the robot technology has also made great progress, and on this basis, the research and development of the mobile robot technology are also getting more hot, and the mobile chassis is used as a mobile robot platform carrying terminal working equipment, which is a key component for judging whether the terminal equipment can meet working requirements according to design requirements, and can be divided into an outdoor type and an indoor type according to working environments. The existing movable chassis is mostly used indoors, the movable chassis can well run in an indoor smooth road environment, but the movable chassis often cannot run in outdoor environments such as uneven road surfaces, complex environments and the like, and even if the movable chassis can run, the original working performance cannot be shown.
The existing mobile chassis mostly adopts a mode of driving the mobile chassis to advance by a motor-reducer-rotating wheel or a motor plus reducer-rotating wheel, and the motor controls the rotation of two or more mobile wheels to finally synthesize the speed of the mobile chassis; in this way, the moving chassis can be conveniently controlled to move forward according to strict speed and direction, but when the road condition is not ideal, for example, on a rugged road, only three wheels touch the ground, and the other wheel is suspended, in this case, the resultant speed of the four wheels of the moving chassis will have deviation, which affects the final speed direction, and thus, the working stability of the moving chassis is poor. Meanwhile, the mechanism is not flexible, so that the mechanism is very sensitive to the vibration of the road surface and poor in vibration resistance, and the working states of the mechanism and load equipment are greatly influenced.
SUMMERY OF THE UTILITY MODEL
Poor in order to solve the shock resistance under outdoor environment of removal chassis, the not enough problem of stability, the utility model provides an outdoor usefulness removes chassis for mobile robot.
An outdoor mobile chassis for a mobile robot comprises a chassis body 1, four mobile wheels 3, four speed reduction motors 11, a front suspension mechanism and a rear suspension mechanism, wherein the front suspension mechanism and the rear suspension mechanism are suspension mechanisms with the same structure.
The output shaft of each speed reducing motor 11 is fixedly connected with a corresponding moving wheel 3 through a hub connecting piece 7;
the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket 14 and a connecting bracket 13;
the middle bracket 14 is an inverted U-shaped bracket;
the shock absorption adjusting suspension mechanism comprises a shock absorber 82, a swing rod mechanism and an adjusting rod mechanism; the swing rod mechanism comprises a rectangular swing frame and is positioned at the upper part; the adjusting rod mechanism comprises a rectangular adjusting frame and is positioned at the lower part; the rectangular swinging frame and the rectangular adjusting frame are vertically parallel; one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with an upright motor mounting bracket 85, and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket 14; the other ends of the two side edges of the middle bracket 14 are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that the pair of damping adjusting suspension mechanisms form two independent suspension mechanisms;
the connecting frame 13 is a U-shaped bracket, the bottom of the connecting frame 13 is fixedly connected with the top of the middle bracket 14, and two side edges of the connecting frame 13 are respectively parallel to the motor mounting bracket 85; one end of the shock absorber 82 is movably connected with one side of the connecting frame 13, and the other end of the shock absorber 82 is movably connected with the corresponding rectangular swinging frame;
each speed reducing motor 11 is correspondingly and fixedly arranged on the motor mounting bracket 85;
during moving operation, the pair of shock absorbers 82 are used for adjusting fluid damping according to different road bumping degrees so as to adapt to different road environments; the independent suspension mechanism corresponding to each moving wheel 3 realizes the buffer of the impact from the road surface to the moving wheels, and improves the shock resistance of the outdoor moving chassis.
The technical scheme for further limiting is as follows:
the swing rod mechanism comprises a pair of swing rods 83, a pair of connecting posts 87 and a pair of supporting posts 86; two ends of one connecting column 87 are respectively and fixedly connected with one end of a pair of swing rods 83, two ends of the other connecting column 87 are respectively and fixedly connected with the other end of the pair of swing rods 83 to form a rectangular swing frame, and two ends of a pair of supporting columns 86 are respectively and fixedly connected with the pair of swing rods 83 and are positioned in the rectangular swing frame in parallel.
The adjusting rod mechanism comprises a pair of adjusting rods 89 and a pair of connecting rods 88, and two ends of one connecting rod 88 are respectively and fixedly connected with two ends of the pair of adjusting rods 89 to form a rectangular adjusting frame.
The adjusting rod 89 comprises a pair of connectors 891 and a telescopic adjusting pipe 895; both ends of the telescopic adjusting pipe 895 are threaded pipes; a rotary hemisphere 892 is arranged on the connecting head 891, and the rotary hemisphere 892 is rotatably connected with the connecting head 891; the fixing rod 893 is fixedly connected to the outside of the connector 891, the fixing rod 893 is perpendicular to the axial lead of the rotating hemisphere 892, and the fixing rod 893 is a screw rod; the pair of connectors 891 are fixed to two ends of the telescopic adjusting tube 895 by fixing rods 893, and nuts 894 on the fixing rods 893 are fixedly connected to tube ends of the telescopic adjusting tube 895.
The motor mounting bracket 85 is in a vertical plate shape, a motor mounting hole is formed in the middle of the motor mounting bracket, the vertical edges on the two sides are bent towards one side to form turned edges, and one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with the turned edges on the two sides of the motor mounting bracket 85.
The top surface of the chassis body 1 is a plane, and a pair of guide rails 2 is arranged on the top surface of the chassis body 1 along the length direction; a robot arm 16 or a carrying basket 21 is provided in cooperation with the pair of guide rails 2.
One end of the chassis body 1 in the length direction is a front end, and the other end of the chassis body 1 is a rear end; a front cover plate 5 is fixedly arranged at the front end, and a laser sensor 6 is arranged on the front cover plate 5; and a rear cover plate 9 is fixedly arranged at the rear end.
The damper 82 is a magnetorheological damper.
One end of the shock absorber 82 is movably connected to one side of the connecting frame 13 through a U-shaped mounting frame 81, and the other end of the shock absorber 82 is movably connected to a corresponding supporting column 86 of the rectangular swing frame through a U-shaped fixing frame 84.
1. The utility model discloses a suspension mechanism and back suspension mechanism solve the stability problem that removes chassis work when the road surface situation is relatively poor before setting up and remove the chassis. The utility model discloses make and remove wheel and gear motor and not with removal chassis body rigid connection, when rugged ground marchs, the bumper shock absorber in front suspension mechanism and the back suspension mechanism will make corresponding extension and shrink under the effect of self damping and removal chassis body weight for remove the wheel and still can adhere to subaerial, keep certain grab ground power, make the synthetic speed of removal wheel still can reach the predetermined requirement, improve the stability of removal chassis when the road surface situation is relatively poor.
2. The utility model discloses a bumper shock absorber in front suspension mechanism and the back suspension mechanism improves the shock resistance on removal chassis. The utility model discloses a preceding suspension mechanism and back suspension mechanism make to remove the chassis when the degree of jolting is great in the road surface, increase the flexibility of removing between wheel and the removal chassis body through the bumper shock absorber of preceding suspension mechanism and back suspension mechanism, when jolting on the road surface great, can not directly convey the removal chassis with road surface vibrations, but the damping through bumper shock absorber itself carries out certain shock attenuation and conveys the removal chassis again, improves the shock resistance on removal chassis.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic bottom view of fig. 1.
Fig. 3 is a schematic view of the suspension structure of the present invention.
Fig. 4 is an exploded view of fig. 3.
Fig. 5 is a schematic view of the installation position of the suspension structure of the present invention.
Fig. 6 is a schematic view of the structure of the adjusting lever.
Fig. 7 is a use state diagram of the mounting robot arm.
Fig. 8 is a diagram showing a state of use in which a carrying basket is mounted.
Fig. 9 is a front view of fig. 8.
Sequence numbers in the upper figure: the automatic control system comprises a movable chassis body 1, a movable guide rail 2, a movable wheel 3, an emergency stop button 4, a front cover plate 5, a laser sensor 6, a hub connecting piece 7, a suspension mechanism 8, a U-shaped mounting frame 81, a shock absorber 82, a swing rod 83, a U-shaped fixing frame 84, a motor mounting bracket 85, a supporting column 86, a connecting column 87, a connecting rod 88, an adjusting rod 89, a connector 891, a rotating hemisphere 892, a fixing rod 893, a nut 894, a telescopic adjusting pipe 895, a rear cover plate 9, a sensor bracket 10, a speed reducing motor 11, an operation panel 12, a connecting frame 13 and a middle bracket 14;
a robot arm mounting plate 15, a robot arm 16, a jaw connector 17, a vision sensor 18, a jaw 19, a mounting pad 20, and a carrying basket 21.
Detailed Description
The present invention will be further explained by embodiments with reference to the accompanying drawings.
Example 1
Referring to fig. 1, an outdoor mobile chassis for a mobile robot includes a chassis body 1, four mobile wheels 3, four reduction motors 11, a front suspension mechanism and a rear suspension mechanism, which have the same structure.
Referring to fig. 2, the output shaft of each speed reduction motor 11 is fixedly connected with a corresponding moving wheel 3 through a hub connecting piece 7.
Referring to fig. 4, the suspension mechanism includes a pair of identically constructed shock absorbing adjusting suspension mechanisms, an intermediate bracket 14 and a link bracket 13. Referring to fig. 3, the intermediate support 14 is an inverted U-shaped support.
Referring to fig. 4, the shock-absorbing adjusting suspension mechanism includes a shock absorber 82, a swing link mechanism, and an adjusting lever mechanism. The swing rod mechanism comprises a pair of swing rods 83, a pair of connecting posts 87 and a pair of supporting posts 86; two ends of one connecting column 87 are respectively and fixedly connected with one end of a pair of swing rods 83, two ends of the other connecting column 87 are respectively and fixedly connected with the other end of the pair of swing rods 83 to form a rectangular swing frame, and two ends of a pair of supporting columns 86 are respectively and fixedly connected with the pair of swing rods 83 and are positioned in the rectangular swing frame in parallel.
The adjusting rod mechanism comprises a pair of adjusting rods 89 and a pair of connecting rods 88, and two ends of one connecting rod 88 are respectively and fixedly connected with two ends of the pair of adjusting rods 89 to form a rectangular adjusting frame.
Referring to fig. 6, the adjustment lever 89 includes a pair of connection heads 891 and a telescopic adjustment tube 895; both ends of the telescopic adjusting pipe 895 are threaded pipes; a rotary hemisphere 892 is arranged on the connecting head 891, and the rotary hemisphere 892 is rotatably connected with the connecting head 891; the fixing rod 893 is fixedly connected to the outside of the connector 891, the fixing rod 893 is perpendicular to the axial lead of the rotating hemisphere 892, and the fixing rod 893 is a screw rod; the pair of connectors 891 are respectively provided at two ends of the telescopic adjusting tube 895 through fixing rods 893, and nuts 894 on the fixing rods 893 are fixedly connected to tube ends of the telescopic adjusting tube 895.
Referring to fig. 6, the rectangular swing frame is located at the upper portion, the rectangular adjusting frame is located at the lower portion, and the rectangular swing frame and the rectangular adjusting frame are vertically parallel. The motor mounting bracket 85 is in a vertical plate shape, a motor mounting hole is formed in the middle of the motor mounting bracket, the vertical edges on the two sides are bent towards one side to form turned edges, and one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with the turned edges on the two sides of the motor mounting bracket 85. One end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with a motor mounting bracket 85, and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket 14; the other ends of the two side edges of the middle bracket 14 are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that a pair of damping adjusting suspension mechanisms form two independent suspension mechanisms, as shown in fig. 3. The pair of adjustment levers 89 in the adjustment lever mechanism is used to adjust the postures of the pair of front or rear moving wheels 3 and maintain a certain grip of the pair of front or rear moving wheels 3.
Referring to fig. 3, the connecting frame 13 is a U-shaped bracket, the bottom of the connecting frame 13 is fixedly connected to the top of the middle bracket 14, and two side edges of the connecting frame 13 are respectively parallel to the motor mounting bracket 85. The damper 82 is a magnetorheological damper; one end of the shock absorber 82 is movably connected to one side of the connecting frame 13 through a U-shaped mounting frame 81, and the other end of the shock absorber 82 is movably connected to a corresponding supporting column 86 of the rectangular swing frame through a U-shaped fixing frame 84. Each speed reducing motor 11 is fixed on the chassis body 1 by matching with a motor mounting hole on the motor mounting bracket 85.
Referring to fig. 5, the front suspension mechanism has an independent suspension mechanism for each of the pair of front wheels, and the rear suspension mechanism has an independent suspension mechanism for each of the pair of rear wheels.
Referring to fig. 1, one end of the chassis body 1 in the length direction is a front end, and the other end is a rear end. A front cover plate 5 is fixedly arranged at the front end, and a laser sensor 6 is arranged on the front cover plate 6; referring to fig. 2, a rear cover plate 9 is fixedly mounted at the rear end.
During moving operation, the pair of shock absorbers 82 are used for adjusting fluid damping according to different road bumping degrees so as to adapt to different road environments; the independent suspension mechanism corresponding to each moving wheel 3 realizes the buffer of the impact from the road surface to the moving wheels, and improves the shock resistance of the outdoor moving chassis.
Example 2
Referring to fig. 1, the top surface of the chassis body 1 is a plane, and a pair of guide rails 2 is fixedly installed on the top surface of the chassis body 1 along the length direction. Referring to fig. 7, a robot arm mounting plate 15 is mounted on the pair of rails 2 by a sliding fit, and a robot arm 16 is fixedly mounted on the robot arm mounting plate 15. The end of the robot arm 16 is connected to a gripper 19 via a gripper connection 17, and a vision sensor 18 is also mounted on one side of the gripper 19. The mechanical arm 16 is used for controlling the spatial position and posture of a clamping jaw 19, the clamping jaw 19 is used for grabbing and operating an object, and the vision sensor 18 is used for acquiring the spatial position coordinates of the object. Under outdoor more complicated topography, four remove wheel 3 and accept the effort from unsmooth ground to on transmitting the effort to bumper shock absorber 82 through motor installing support 85, U-shaped mount 84, bumper shock absorber 82 transmits chassis body 1 after reducing effort and deflection, can make chassis body 1 and the operation of the arm 16 that carries on, clamping jaw 19 and vision sensor 18 more stable, improve vision sensor 18's detectability, also improve the degree of accuracy that clamping jaw 19 pressed from both sides and get the target object simultaneously.
Example 3
Referring to fig. 8, the guide rail 2 is movably fitted with a mounting mat 20, and the carrying basket 21 is fixedly mounted on the mounting mat 20. When fruits picked in an orchard need to be conveyed, the flatness of the orchard terrain is poor, the four movable wheels 3 of the outdoor movable chassis receive supporting force from the ground, the supporting force is transmitted to the shock absorber 82 through the motor mounting bracket 85 and the U-shaped fixing frame 84 in sequence, the shock absorber 82 adjusts fluid in the shock absorber to damp corresponding to the terrain according to the received force, and the shock absorber 82 contracts to the corresponding degree, so that each independent suspension mechanism 8 changes to the corresponding shape, the four movable wheels 3 can be continuously attached to the ground due to the change of the shape, the postures of the chassis body 1 and the conveying basket 21 can be kept stable, large-amplitude bumping is avoided, the conveying quality of the fruits in the conveying basket 21 can be improved through the outdoor movable chassis, and quality damage to the fruits due to extrusion is reduced.
The above description is not intended to limit the present invention in any way on its structure or shape. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention all still fall within the scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides an outdoor usefulness removes chassis for mobile robot, includes chassis body (1), four removal wheel (3), four gear motor (11), preceding suspension mechanism and back suspension mechanism are the same suspension mechanism of structure, its characterized in that:
the output shaft of each speed reducing motor (11) is fixedly connected with a corresponding moving wheel (3) through a hub connecting piece (7);
the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket (14) and a connecting frame (13);
the middle bracket (14) is an inverted U-shaped bracket;
the shock absorption adjusting suspension mechanism comprises a shock absorber (82), a swing rod mechanism and an adjusting rod mechanism; the swing rod mechanism comprises a rectangular swing frame and is positioned at the upper part; the adjusting rod mechanism comprises a rectangular adjusting frame and is positioned at the lower part; the rectangular swinging frame and the rectangular adjusting frame are vertically parallel; one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with an upright motor mounting bracket (85), and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket (14); the other ends of the two side edges of the middle bracket (14) are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that the pair of damping adjusting suspension mechanisms form two independent suspension mechanisms;
the connecting frame (13) is a U-shaped support, the bottom of the connecting frame (13) is fixedly connected with the top of the middle support (14), and two side edges of the connecting frame (13) are respectively parallel to the motor mounting support (85); one end of the shock absorber (82) is movably connected with one side of the connecting frame (13), and the other end of the shock absorber (82) is movably connected with the corresponding rectangular swinging frame;
each speed reducing motor (11) is correspondingly and fixedly arranged on the motor mounting bracket (85);
during moving operation, the pair of shock absorbers (82) is used for adjusting fluid damping according to different road bumping degrees so as to adapt to different road environments; the independent suspension mechanism corresponding to each moving wheel (3) realizes the buffering of the impact from the road surface to the moving wheels, and improves the shock resistance of the outdoor moving chassis.
2. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the swing rod mechanism comprises a pair of swing rods (83), a pair of connecting columns (87) and a pair of supporting columns (86); two ends of one connecting column (87) are respectively and fixedly connected with one end of a pair of swing rods (83), two ends of the other connecting column (87) are respectively and fixedly connected with the other end of the pair of swing rods (83) to form a rectangular swing frame, and two ends of a pair of supporting columns (86) are respectively and fixedly connected with the pair of swing rods (83) and are positioned in the rectangular swing frame in parallel.
3. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the adjusting rod mechanism comprises a pair of adjusting rods (89) and a pair of connecting rods (88), and two ends of one connecting rod (88) are respectively and fixedly connected with two ends of the pair of adjusting rods (89) to form a rectangular adjusting frame.
4. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the adjusting rod (89) comprises a pair of connectors (891) and a telescopic adjusting pipe (895); both ends of the telescopic adjusting pipe (895) are threaded pipes; a rotating hemisphere (892) is arranged on the connecting head (891), and the rotating hemisphere (892) is rotatably connected with the connecting head (891); the fixing rod (893) is fixedly connected to the outer part of the connector (891), the fixing rod (893) is perpendicular to the axial lead of the rotating hemisphere (892), and the fixing rod (893) is a screw rod; the pair of connectors (891) are respectively fixed at two ends of the telescopic adjusting pipe (895) through fixing rods (893), and nuts (894) on the fixing rods (893) are fixedly connected with pipe ends of the telescopic adjusting pipe (895).
5. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the motor mounting support (85) is in a vertical plate shape, a motor mounting hole is formed in the middle of the motor mounting support, the vertical edges on the two sides are bent towards one side to form turned edges, and one end of the rectangular swinging frame and one end of the rectangular adjusting frame are fixedly connected with the turned edges on the two sides of the motor mounting support (85) respectively.
6. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the top surface of the chassis body (1) is a plane, and a pair of guide rails (2) is arranged on the top surface of the chassis body (1) along the length direction; a robot arm (16) or a carrying basket (21) is provided in cooperation with the pair of guide rails (2).
7. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: one end of the chassis body (1) in the length direction is a front end, and the other end of the chassis body is a rear end; a front cover plate (5) is fixedly arranged at the front end, and a laser sensor (6) is arranged on the front cover plate (5); and a rear cover plate (9) is fixedly arranged at the rear end.
8. The outdoor mobile chassis for a mobile robot according to claim 1, wherein: the damper (82) is a magnetorheological damper.
9. The outdoor mobile chassis for a mobile robot according to claim 2, wherein: one end of the shock absorber (82) is movably connected with one side of the connecting frame (13) through a U-shaped mounting frame (81), and the other end of the shock absorber (82) is movably connected with a corresponding supporting column (86) of the rectangular swinging frame through a U-shaped fixing frame (84).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020579801.9U CN212044703U (en) | 2020-04-17 | 2020-04-17 | Outdoor mobile chassis for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020579801.9U CN212044703U (en) | 2020-04-17 | 2020-04-17 | Outdoor mobile chassis for mobile robot |
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| Publication Number | Publication Date |
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| CN212044703U true CN212044703U (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020579801.9U Active CN212044703U (en) | 2020-04-17 | 2020-04-17 | Outdoor mobile chassis for mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421519A (en) * | 2020-04-17 | 2020-07-17 | 合肥中科深谷科技发展有限公司 | Outdoor mobile chassis for mobile robot |
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2020
- 2020-04-17 CN CN202020579801.9U patent/CN212044703U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421519A (en) * | 2020-04-17 | 2020-07-17 | 合肥中科深谷科技发展有限公司 | Outdoor mobile chassis for mobile robot |
| CN111421519B (en) * | 2020-04-17 | 2024-06-14 | 合肥中科深谷科技发展有限公司 | Outdoor mobile chassis for mobile robot |
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