CN215751786U - Suspension chassis capable of adjusting damping mechanism and robot - Google Patents
Suspension chassis capable of adjusting damping mechanism and robot Download PDFInfo
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- CN215751786U CN215751786U CN202121539548.5U CN202121539548U CN215751786U CN 215751786 U CN215751786 U CN 215751786U CN 202121539548 U CN202121539548 U CN 202121539548U CN 215751786 U CN215751786 U CN 215751786U
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Abstract
The utility model discloses a suspension chassis capable of adjusting a damping mechanism and a robot, comprising a chassis connected with a suspension bracket; the driving wheel assembly is arranged below the chassis through the suspension assembly; the first damping mechanism is arranged above the driving wheel assembly and comprises a damping spring and a screw rod, and the screw rod is connected with the driving wheel assembly; the damping spring is sleeved on the screw rod, one end of the damping spring is connected with the driving wheel assembly, the other end of the damping spring is provided with an adjusting piece, and the adjusting piece is connected with the damping spring and tightly presses the damping spring; the adjusting piece is used for controlling the compression amount of the damping spring so as to adjust the pressure applied to the driving wheel assembly. According to the suspension chassis and the robot with the adjustable damping mechanism, provided by the utility model, the damping capacity of the chassis can be adjusted according to different loads, the adhesive force of the driving wheel to the ground is increased, the damping is buffered, and the driving wheel is prevented from slipping.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a suspension chassis with an adjustable damping mechanism and a robot.
Background
The chassis robot at the present stage mostly adopts multi-sensor data to perform fusion navigation, can flexibly face complicated and changeable practical application conditions, provides reliable field performance, is widely applied to the fields of industrial transportation, medical care delivery, guest greeting explanation, safety inspection and the like at present, wherein the reliability of the robot is realized by the self running stability of the chassis of the robot, and the stability of the chassis of the robot influences the operation of the robot and the performance effect of function realization.
When the robot chassis carries upper computers with different purposes, the chassis is often required to be compact in structure and small in size and the suspension device is large in application range due to the difference of loads and structural installation modes. And the damper or the suspended structure of the robot in the existing market are mostly fixed molding, can not carry out adaptability adjustment and the focus is on the high side to it, or adopt double-deck chassis structure, have increased the structure volume, lead to the drive wheel to skid easily, move unstable scheduling problem to take place.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the suspension chassis with the adjustable damping mechanism and the robot provided by the utility model can adjust the damping capacity of the chassis according to different loads, increase the adhesive force of the driving wheel to the ground, damp and buffer, and avoid the driving wheel from slipping.
According to the embodiment of the first aspect of the utility model, the suspension chassis of the adjustable damping mechanism comprises a chassis, a suspension bracket and a damping device, wherein the suspension bracket is connected with the chassis; the driving wheel assembly is arranged below the chassis through the suspension assembly; the first damping mechanism is arranged above the driving wheel assembly and comprises a damping spring and a screw rod, and the screw rod is connected with the driving wheel assembly; the damping spring is sleeved on the screw rod, one end of the damping spring is connected with the driving wheel assembly, the other end of the damping spring is provided with an adjusting piece, and the adjusting piece is connected with the damping spring and tightly presses the damping spring; the adjusting piece is used for controlling the compression amount of the damping spring so as to adjust the pressure applied to the driving wheel assembly.
According to the embodiment of the utility model, the suspension chassis of the adjustable damping mechanism at least has the following technical effects: the suspension chassis in the embodiment is applied to the robot, and when the robot goes up a step or passes through a pit on the ground, the driving wheel assembly can be suspended, so that the inclined swinging risk is generated. In this embodiment, the driving wheel assembly is hung below the chassis and connected with the chassis (suspension bracket) through a screw, a damping spring is sleeved outside the screw, and the damping spring is connected with the driving wheel assembly and can apply pressure to the driving wheel assembly; the compression amount of the damping spring is increased when the damping spring passes through the step, and is reduced when the damping spring passes through the step, so that the driving wheel assembly can be driven to slightly lift to adapt to the ground condition, and the damping and buffering are realized, so that the driving wheel assembly is prevented from suspending and slipping; the setting of regulating part can carry out the adaptability to damping spring to the different load demands of robot and installation condition and adjust, and increase drive wheel assembly prevents to skid to the adhesive force on ground.
According to some embodiments of the utility model, the adjusting member is an adjusting screw ring, the suspension bracket is provided with a fastening nut, the adjusting screw ring is in threaded connection with the fastening nut, the screw rod is partially arranged in the adjusting screw ring in a penetrating manner, and the compression amount of the damping spring can be adjusted by screwing the adjusting screw ring.
According to some embodiments of the utility model, the driving wheel assembly comprises a hub motor and a driving fixing seat, the hub motor is provided with a wheel shaft, the wheel shaft is connected with the driving fixing seat, and the driving fixing seat is connected with the suspension assembly; the driving fixing seat is provided with a threaded hole matched with the screw rod, and the screw rod is connected with the driving fixing seat.
According to some embodiments of the utility model, the suspension assembly comprises a first fixed bracket and a first guide shaft, the first fixed bracket is mounted below the chassis, one end of the first guide shaft is connected with the first fixed bracket, and the other end of the first guide shaft is connected with the suspension bracket; the driving fixing seat is connected with the first guide shaft and can move up and down along the first guide shaft.
According to some embodiments of the utility model, the first guide shaft penetrates through the driving fixing seat, and the lifting stroke of the driving fixing seat is limited by the check ring.
According to some embodiments of the utility model, the damping device further comprises a damping component, wherein the damping component comprises a damping fixing plate and a damper, the damping fixing plate is installed on the chassis, one end of the damper is connected with the driving fixing seat, and the other end of the damper is connected with the damping fixing plate.
According to some embodiments of the utility model, a plurality of driven wheel assemblies are attached below the chassis.
According to some embodiments of the utility model, the driven wheel assembly comprises a driven wheel and a driven fixed seat, the driven wheel is connected with the driven fixed seat, and the driven wheel fixed seat is installed below the chassis through the guide assembly.
According to some embodiments of the utility model, the driven wheel assembly is provided with a second damping mechanism, one end of the second damping mechanism is connected with the chassis, and the other end of the second damping mechanism is connected with the driven wheel fixing seat.
A robot according to an embodiment of the second aspect of the utility model comprises a robot body and a suspension chassis of an adjustable damping mechanism as described in any of the embodiments of the first aspect, the robot body being arranged on the chassis.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The utility model is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of an installation structure of an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the drive wheel assembly;
FIG. 3 is a schematic view of the mounting structure of the drive wheel assembly;
fig. 4 is a schematic view of the mounting structure of the driven wheel assembly.
Reference numerals:
the damping device comprises a chassis 100, a suspension bracket 110, a mounting opening 120, a suspension assembly 130, a first fixing bracket 131, a first guide shaft 132, a linear bearing 133, a retainer ring 134, a rubber gasket 135, a damping assembly 150, a damping fixing plate 151, a waist-shaped groove 152 and a damper 153;
a driving wheel assembly 200, a hub motor 210, a driving fixing seat 220, an upper fixing seat 221 and a lower fixing seat 222;
the damping mechanism comprises a first damping mechanism 300, a damping spring 310, a screw 320, an adjusting screw ring 331 and a fastening nut 332;
the driven wheel assembly 400, the driven wheel 401, the driven fixing seat 402, the guide assembly 410, the second fixing bracket 411, the supporting member 412, the second guide shaft 413 and the second shock absorption mechanism 420.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 2, a suspension chassis of an adjustable damping mechanism according to an embodiment of the present invention includes a chassis 100, a driving wheel assembly 200, and a first damping mechanism 300.
The chassis 100 is connected with a suspension bracket 110, which may be a suspension metal plate with a downward opening, and the chassis 100 is provided with a mounting opening 120. The drive wheel assembly 200 is mounted to the underside of the chassis 100 via the suspension assembly 130 and is disposed within the mounting opening 120. Specifically, in order to ensure smooth movement of the driving wheel assembly 200, in the present embodiment, two driving wheel assemblies 200 are connected to the chassis 100, and the two driving wheel assemblies 200 are arranged in mirror image along the symmetry axis of the chassis 100.
The first shock absorption mechanism 300 is arranged above the driving wheel assembly 200, the first shock absorption mechanism 300 comprises a shock absorption spring 310 and a screw 320, and the screw 320 is connected with the driving wheel assembly 200; the damping spring 310 is sleeved on the screw rod 320, one end of the damping spring is connected with the driving wheel component 200, the other end of the damping spring is provided with an adjusting piece, and the adjusting piece is connected with the damping spring 310 and compresses the damping spring 310; the adjustment member is used to control the amount of compression of the damper spring 310 to adjust the pressure to which the driving wheel assembly 200 is subjected.
The suspension chassis in this embodiment is applied to a robot, and when the robot goes up a step or passes through a pit on the ground, the driving wheel assembly 200 is suspended, so that the risk of tilting and swinging is caused. In this embodiment, the driving wheel assembly 200 is hung under the chassis 100 and connected to the chassis 100 (the suspension bracket 110) through a screw 320, a damping spring 310 is sleeved outside the screw 320, and the damping spring 310 is connected to the driving wheel assembly 200 and can apply pressure to the driving wheel assembly 200; the damping spring 310 is increased in compression amount when passing through the step and reduced in compression amount when passing through the ridge, so that the driving wheel assembly 200 can be driven to slightly lift to adapt to the ground condition, the damping and buffering are realized, and the suspended slipping of the driving wheel assembly 200 is avoided; the setting of regulating part can carry out the adaptability to damping spring 310 to the different load demands of robot and installation condition and adjust, and increase drive wheel subassembly 200 is to the adhesive force on ground, prevents to skid.
Referring to fig. 2, in some embodiments of the utility model, the adjusting member is an adjusting screw ring 331; the hanging bracket 110 is provided with a fastening nut 332, the hanging bracket 110 is provided with a yielding hole, and the fastening nut 332 is fixedly arranged on one side of the hanging bracket 110 facing the chassis 100 and is arranged at the yielding hole; the adjusting screw ring 331 is provided with external threads, the fastening nut 332 is provided with internal threads matched with the adjusting screw ring 331, the adjusting screw ring 331 is in threaded connection with the fastening nut 332, the screw 320 is partially arranged in the adjusting screw ring 331 in a penetrating manner, the adjusting screw ring 331 is screwed according to different load requirements and installation conditions of the robot, the compression amount of the damping spring 310 can be adjusted, and the pressure borne by the driving wheel assembly 200 is changed.
Referring to fig. 2, in some embodiments of the present invention, the driving wheel assembly 200 includes a wheel hub motor 210 and a driving holder 220, the wheel hub motor 210 is provided with a wheel shaft 211, the wheel shaft 211 is connected to the driving holder 220, the driving holder 220 is connected to the suspension assembly 130, the driving holder 220 is provided with a threaded hole matching with the screw 320, and the screw 320 is connected to the driving wheel holder.
Compare traditional motor, speed reducer and reduction gear and even the encoder combination, select in this embodiment to use in-wheel motor 210, with drive wheel and driving piece integration setting, satisfy the requirement of the small lightweight of chassis 100.
Specifically, the in-wheel motor 210 includes a wheel and a wheel driving member, the in-wheel motor 210 is fixedly connected to the driving fixing base 220 through a wheel axle 211, and the wheel driving member can drive the wheel to rotate around the wheel axle 211; the driving fixing seat 220 comprises an upper fixing seat 221 and a lower fixing seat 222, the upper fixing seat 221 and the lower fixing seat 222 clamp the wheel shaft, a threaded hole matched with the screw 320 is formed in the upper fixing seat 221, the threaded hole penetrates through the upper fixing seat 221, when the lower end of the screw 320 is installed in the threaded hole, the lower end of the screw 320 can abut against the wheel shaft, the wheel shaft abuts against the upper fixing seat 221 and the lower fixing seat 222, and therefore the connection between the driving fixing seat 220 and the hub motor 210 is achieved; a spring hole is further formed above the threaded hole, so that one end of the damping spring 310 extends into the spring hole to connect with the upper fixing seat 221.
In a further embodiment of the present invention, the suspension assembly 130 includes a first fixing bracket 131 and first guide shafts 132, and in this embodiment, the first guide shafts 132 are two in number and are symmetrically disposed; the first fixing bracket 131 may be specifically a first fixing metal plate with an upward opening, and is installed below the chassis 100, one end of the first guide shaft 132 is connected to the first fixing bracket 131, and the other end is connected to the suspension bracket 110; the driving fixing base 220 is connected with the first guiding shaft 132 and can move up and down along the first guiding shaft 132 to adapt to different ground conditions.
In a further embodiment of the present invention, the first guiding shaft 132 is disposed on the driving fixing base 220 in a penetrating manner, and the stop ring 134 is used for limiting the lifting stroke of the driving fixing base 220, so as to avoid the influence on the operation due to the too large lifting range of the driving wheel assembly 200.
Specifically, the upper fixing seat 221 and the lower fixing seat 222 are correspondingly provided with first shaft holes, the linear bearing 133 is installed in the first shaft holes, and the two retaining rings 134 are installed at the upper end and the lower end of the linear bearing 133 to realize connection of the upper fixing seat 221 and the lower fixing seat 222. The first guide shaft 132 is inserted into the linear bearing 133 to hang the driving holder 220 under the chassis 100. The retainer 134 is a resilient retainer 134 for the driving holder 220 to move slightly. Meanwhile, since the linear bearing 133 and the first guide shaft 132 penetrate through the two symmetrical sides of the driving fixing seat 220, for the movement guidance of the driving fixing seat 220 (the driving wheel assembly 200), the driving fixing seat 220 is lifted along the first guide shaft 132, so that the damping spring 310 is maintained to be deformed in the direction perpendicular to the driving fixing seat 220, and the inclination of the vehicle body and the swinging of the vehicle body caused by the unbalanced stress of the driving wheel assembly 200 are avoided, thereby maintaining the stability of the robot in operation.
Preferably, a rubber gasket 135 is provided at an end of the first guide shaft 132 connected to the first fixing bracket 131 to reduce noise generated by the deformation of the damper spring 310.
Referring to fig. 3, in some embodiments of the present invention, the damping assembly 150 is further included, the damping assembly 150 includes a damping fixing plate 151 and a damper 153, the damping fixing plate 151 is mounted on the chassis 100, and one end of the damper 153 is connected to the driving fixing base 220 and the other end is connected to the damping fixing plate 151. Specifically, the end of the damping fixing plate 151 connected to the chassis 100 is provided with a waist-shaped groove 152, so that the damping assembly 150 can be finely adjusted back and forth towards the driving fixing seat 220, and the damper 153 is tightly attached to the driving fixing seat 220. The damper 153 can buffer the axial force generated by the in-wheel motor 210 during operation, and reduce the accumulated running error of the in-wheel motor 210, so that the running does not deviate from the planned path, and the robot can be accurately positioned.
Referring to fig. 1, in a further embodiment of the present invention, a plurality of driven wheel assemblies 400 are connected to the lower side of the chassis 100, and the bottom surfaces of the driven wheel assemblies 400 are flush with the bottom surface of the driving wheel assembly 200, so as to ensure the smoothness of driving.
Referring to fig. 4, in a further embodiment of the present invention, driven wheel assembly 400 includes a driven wheel 401 and a driven mount 402, driven wheel 401 is connected to driven mount 402, and driven wheel 401 mount is mounted under chassis 100 via a guide assembly 410.
The guide assembly 410 includes a second fixing bracket 411 and second guide shafts 413, and in this embodiment, the number of the second guide shafts 413 is four; the second fixing bracket 411 may be specifically a second fixing metal plate with an upward opening, and is installed below the chassis 100, one end of the second guide shaft 413 is connected with the second fixing bracket 411, and the other end is connected with the chassis 100; four second shaft holes are formed in four corners of the driven fixing seat 402, a shaft sleeve is sleeved on the second guide shaft 413, specifically a lubricating graphite copper sleeve is arranged in each second shaft hole, and the second guide shaft 413 is connected with the driven fixing seat 402.
Specifically, a mounting hole is formed in the second fixing bracket 411, the driven wheel 401 is connected with the fixed seat of the driven wheel 401 through a support member 412, and the support member 412 extends to the lower side of the second fixing bracket 411 through the mounting hole, so that the driven wheel 401 is arranged below the second fixing bracket 411.
In a further embodiment of the present invention, a second damping mechanism 420 is disposed on the driven wheel assembly 400, the second damping mechanism 420 is specifically a nitrogen spring, and one end of the second damping mechanism 420 is connected to the chassis 100, and the other end is connected to the fixed seat of the driven wheel 401.
Preferably, a nylon washer is provided at an end of the second guide shaft 413 connected to the second fixing bracket 411 to reduce noise generated by deformation of the nitrogen spring.
The in-wheel motor 210 and the driven wheel 401 are provided with the damping mechanisms, so that high adhesion of all running wheels to the ground can be guaranteed, and meanwhile, each of the first damping mechanism 300 and the second damping mechanism 420 is independently installed in a modularized mode and operates independently, has independent damping and buffering capabilities and can respectively buffer acting force of the ground to the robot, and therefore the robot can be kept to operate stably.
According to a second aspect of the present invention, a robot includes a robot body and a suspension chassis of an adjustable damping mechanism provided in any of the above embodiments of the present invention, the robot body is mounted on the chassis 100, and the robot body is moved by the driving wheel assembly 200 and the driven wheel assembly 400 in cooperation.
The using method of the utility model comprises the following steps: according to the volume, weight and installation mode of different robot bodies, the screw ring 331 is screwed and adjusted, the compression amount of the damping spring 310 is changed, pressure is generated between the driving wheel assembly 200 and the damping spring 310, and the driving wheel assembly 200 is in contact with the ground; when the ground is not level, the compression amount of the damping spring 310 changes along with the ground condition, so that the driving wheel assembly 200 is always in contact with the ground under the action of elastic force, thereby adapting to various road conditions, avoiding the suspended slipping of the driving wheel assembly 200 and realizing damping and buffering.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A suspension chassis of an adjustable damping mechanism, comprising:
a chassis (100) to which a suspension bracket (110) is connected;
a drive wheel assembly (200) mounted below the chassis (100) by a suspension assembly (130);
the first shock absorption mechanism (300) is arranged above the driving wheel assembly (200), the first shock absorption mechanism (300) comprises a shock absorption spring (310) and a screw rod (320), and the screw rod (320) is connected with the driving wheel assembly (200); the damping spring (310) is sleeved on the screw rod (320), one end of the damping spring is connected with the driving wheel assembly (200), the other end of the damping spring is provided with an adjusting piece, and the adjusting piece is connected with the damping spring (310) and tightly presses the damping spring (310); the adjusting piece is used for controlling the compression amount of the shock absorption spring (310) so as to adjust the pressure to which the driving wheel assembly (200) is subjected.
2. The suspension chassis of an adjustable damping mechanism according to claim 1, characterized in that: the adjusting piece is an adjusting spiral ring (331), a fastening nut (332) is installed on the suspension support (110), the adjusting spiral ring (331) is in threaded connection with the fastening nut (332), the screw rod (320) is partially arranged in the adjusting spiral ring (331) in a penetrating mode, and the adjusting spiral ring (331) is screwed to adjust the compression amount of the damping spring (310).
3. The suspension chassis of an adjustable damping mechanism according to claim 1, characterized in that: the driving wheel assembly (200) comprises a wheel hub motor (210) and a driving fixed seat (220), a wheel shaft (211) is arranged on the wheel hub motor (210), the wheel shaft (211) is connected with the driving fixed seat (220), and the driving fixed seat (220) is connected with the suspension assembly (130); the driving fixing seat (220) is provided with a threaded hole matched with the screw rod (320), and the screw rod (320) is connected with the driving fixing seat (220).
4. A suspension chassis of an adjustable shock absorbing mechanism according to claim 3, wherein: the suspension assembly (130) comprises a first fixed support (131) and a first guide shaft (132), the first fixed support (131) is installed below the chassis (100), one end of the first guide shaft (132) is connected with the first fixed support (131), and the other end of the first guide shaft is connected with the suspension support (110); the driving fixed seat (220) is connected with the first guide shaft (132) and can move up and down along the first guide shaft (132).
5. The suspension chassis of an adjustable damping mechanism according to claim 4, characterized in that: the first guide shaft (132) penetrates through the driving fixing seat (220), and the lifting stroke of the driving fixing seat (220) is limited through a check ring (134).
6. A suspension chassis of an adjustable shock absorbing mechanism according to claim 3, wherein: still include damping subassembly (150), damping subassembly (150) include damping fixed plate (151) and attenuator (153), damping fixed plate (151) install in on chassis (100), attenuator (153) one end with drive fixing base (220) meet, the other end with damping fixed plate (151) link to each other.
7. The suspension chassis of an adjustable damping mechanism according to claim 1, characterized in that: a plurality of driven wheel assemblies (400) are connected below the chassis (100).
8. The suspension chassis of an adjustable damping mechanism according to claim 7, characterized in that: the driven wheel assembly (400) comprises a driven wheel (401) and a driven fixing seat (402), the driven wheel (401) is connected to the driven fixing seat (402), and the driven fixing seat is installed below the chassis (100) through a guide assembly (410).
9. The suspension chassis of an adjustable damping mechanism according to claim 8, characterized in that: and a second damping mechanism (420) is arranged on the driven wheel assembly (400), one end of the second damping mechanism (420) is connected with the chassis (100), and the other end of the second damping mechanism is connected with the fixed seat of the driven wheel (401).
10. A robot, characterized in that it comprises a suspension chassis of an adjustable damping mechanism according to any of claims 1-9 and a robot body, which is arranged on said chassis (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121539548.5U CN215751786U (en) | 2021-07-07 | 2021-07-07 | Suspension chassis capable of adjusting damping mechanism and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121539548.5U CN215751786U (en) | 2021-07-07 | 2021-07-07 | Suspension chassis capable of adjusting damping mechanism and robot |
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| CN215751786U true CN215751786U (en) | 2022-02-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021863A (en) * | 2023-10-07 | 2023-11-10 | 之江实验室 | Damping-adjustable suspension device and wheeled robot |
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2021
- 2021-07-07 CN CN202121539548.5U patent/CN215751786U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021863A (en) * | 2023-10-07 | 2023-11-10 | 之江实验室 | Damping-adjustable suspension device and wheeled robot |
| CN117021863B (en) * | 2023-10-07 | 2024-01-16 | 之江实验室 | Damping-adjustable suspension device and wheeled robot |
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