CN217022649U - 4-wheel steering chassis suitable for inspection robot - Google Patents
4-wheel steering chassis suitable for inspection robot Download PDFInfo
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- CN217022649U CN217022649U CN202220158737.6U CN202220158737U CN217022649U CN 217022649 U CN217022649 U CN 217022649U CN 202220158737 U CN202220158737 U CN 202220158737U CN 217022649 U CN217022649 U CN 217022649U
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Abstract
The utility model relates to the field of inspection robots, in particular to a 4-wheel steering chassis suitable for an inspection robot, and aims to solve the problems of large turning radius and poor trafficability of the inspection robot in the prior art. Steering axle assemblies are arranged between two front wheels and between two rear wheels of the wire control chassis provided by the utility model; the steering axle assembly comprises a parallel four-bar linkage mechanism which drives two wheels to steer synchronously; the parallel four-bar linkage is provided with two fixed hinge points, and the wheels turn around the fixed hinge points. Steering axle assemblies are arranged between two front wheels and between two rear wheels, and the front wheels and the rear wheels can be driven to steer through parallel four-bar linkage mechanisms on the steering axle assemblies respectively. Compared with the wire-controlled chassis only provided with one set of steering axle assembly and only capable of driving the front wheels or the rear wheels to rotate, the utility model has the advantages that the turning radius can be effectively reduced by simultaneously steering the front wheels and the rear wheels, and the passing performance of the inspection robot is improved.
Description
Technical Field
The utility model relates to the field of inspection robots, in particular to a 4-wheel steering chassis suitable for an inspection robot.
Background
With the continuous increase of giant enterprise factories, high and new parks and giant markets, new requirements are put forward for the security and protection work of the places. Due to the fact that the inspection range is continuously expanded, the personnel cost is continuously increased in indoor and outdoor mixed environments, and the like, the increasingly complicated security requirements cannot be met only by security guards. In addition, in some dangerous inspection environments, security personnel are not suitable for performing inspection work, such as a substation area. The traditional security system mainly adopts monitoring equipment at a fixed position, has poor adaptability and is easy to generate monitoring dead angles. With the rapid development of artificial intelligence technology, mobile robot technology and communication technology, the inspection robot better solves the problems. Aiming at areas such as important units, venues, warehouses, communities and the like, the inspection robot can carry various security monitoring equipment to carry out intelligent inspection in a working area and transmit pictures and data to a remote monitoring system, makes a decision autonomously according to the field condition, and sends alarm information in time after a problem is found.
The drive-by-wire chassis of the current inspection robot adopts rear drive and front steering, and has the problems of large turning radius, poor narrow road section trafficability, incapability of turning around and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a 4-wheel steering chassis suitable for an inspection robot, and aims to solve the problems that the inspection robot in the prior art is large in turning radius and poor in trafficability characteristic.
In order to solve the technical problems, the technical scheme provided by the utility model is as follows:
a4-wheel steering chassis suitable for an inspection robot is provided, wherein steering axle assemblies are arranged between two front wheels and between two rear wheels of the wire control chassis; the steering axle assembly comprises a parallel four-bar linkage mechanism which drives two wheels to synchronously steer; the parallel four-bar linkage mechanism is provided with two fixed hinge points, and the wheels turn around the fixed hinge points; the steering angle of the two front wheels is greater than the steering angle of the two rear wheels.
Furthermore, the steering axle assembly also comprises two wheel frames, and the two wheel frames are respectively connected with corresponding wheels; the wheel frame is provided with a rotating shaft hole which is coaxial with the fixed hinge point, and the wheel frame rotates around the rotating shaft hole.
Furthermore, the parallel four-bar linkage mechanism comprises a steering swing arm, and the steering swing arm is connected with the wheel frame; the steering swing arm is configured to swing around the rotating shaft hole so as to drive the wheel frame to rotate around the rotating shaft hole.
Furthermore, the parallel four-bar linkage mechanism also comprises a driven swing arm, and the driven swing arm is connected with the wheel frame; the driven swing arm is configured to swing around the rotating shaft hole so as to drive the wheel frame to rotate around the rotating shaft hole.
Furthermore, the parallel four-bar linkage mechanism further comprises a driving connecting rod, one end of the driving connecting rod is hinged with the steering swing arm, and the other end of the driving connecting rod is hinged with the driven swing arm.
Furthermore, the parallel four-bar linkage mechanism also comprises a first bar end joint bearing; two first rod end joint bearings are respectively arranged at two ends of the driving connecting rod, and the first rod end joint bearings are respectively hinged with the steering swing arm and the driven swing arm.
Furthermore, the steering axle assembly also comprises a rack and pinion component, and the output end of the rack and pinion component is hinged with the steering swing arm so as to drive the steering swing arm to swing.
Furthermore, the steering axle assembly further comprises a second rod end joint bearing, the rod end of the second rod end joint bearing is connected with the output end of the gear rack component, and a joint bearing of the second rod end joint bearing is hinged with the steering swing arm.
Furthermore, the steering axle assembly also comprises a worm and gear steering motor, the output end of the worm and gear steering motor is connected with the input end of the rack and pinion component, and the rotation output by the worm and gear steering motor is converted into the linear motion of the rack and pinion component.
Furthermore, the steering angle of the two front wheels is not more than 48 degrees, and the steering angle of the two rear wheels is not more than 24 degrees
Furthermore, the steering angle of the two front wheels is 30 degrees, and the steering angle of the two rear wheels is 15 degrees
Further, the steering angle of the two front wheels is twice the steering angle of the two rear wheels.
The utility model provides a 4-wheel steering chassis suitable for an inspection robot, wherein steering axle assemblies are arranged between two front wheels and between two rear wheels of the wire control chassis; the steering axle assembly comprises a parallel four-bar linkage mechanism which drives two wheels to steer synchronously; the parallel four-bar linkage mechanism is provided with two fixed hinge points, and the wheels turn around the fixed hinge points; the steering angle of the two front wheels is greater than the steering angle of the two rear wheels.
By combining the technical scheme, the utility model has the technical effects that:
according to the 4-wheel steering chassis suitable for the inspection robot, the steering axle assemblies are arranged between the two front wheels and between the two rear wheels, so that the front wheels and the rear wheels can be driven to steer through the parallel four-bar linkage mechanisms on the steering axle assemblies respectively. Compared with the wire-controlled chassis only provided with one set of steering axle assembly and only capable of driving the front wheels or the rear wheels to rotate, the utility model has the advantages that the turning radius can be effectively reduced by simultaneously steering the front wheels and the rear wheels, and the passing performance of the inspection robot is improved.
Drawings
While the drawings needed to describe the detailed description and prior art are briefly described below, it should be apparent that the drawings in the following description are some embodiments of the utility model and that other drawings may be derived from those drawings by one of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a 4-wheel steering chassis suitable for an inspection robot according to an embodiment of the present invention;
fig. 2 is a top view of a 4-wheel steering chassis suitable for an inspection robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a driven wheel part of a 4-wheel steering chassis suitable for an inspection robot according to an embodiment of the utility model;
fig. 4 is a schematic structural diagram of a driving wheel part of a 4-wheel steering chassis suitable for an inspection robot according to an embodiment of the present invention;
FIG. 5 is a schematic view of the wheel frame;
FIG. 6 is a schematic diagram illustrating a comparison of turning radii of a 4-wheel steering chassis and a rear-drive front steering chassis suitable for an inspection robot according to an embodiment of the present invention;
fig. 7 is a schematic turning radius diagram of a 4-wheel steering chassis front wheel suitable for an inspection robot according to an embodiment of the present invention, which is steered by a front wheel of the chassis for 30 degrees and a rear wheel for 15 degrees.
Icon: 100-a steer axle assembly; 200-a wheel; 300-driving a motor; 400-a chassis frame; 500-fixing the shaft; 600-a mounting seat; 700-a fixed seat; 800-a gimbal; 110-parallel four-bar linkage; 120-wheel carrier; 130-a rack and pinion assembly; 140-a second rod end knuckle bearing; 150-worm gear and worm steering motor; 111-a steering swing arm; 112-driven swing arm; 113-a drive link; 114-a first rod end knuckle bearing; 121-a brake device; a-a fixed hinge point; b-rotating shaft hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Some embodiments of the utility model are described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
The utility model provides a 4-wheel steering chassis suitable for an inspection robot, wherein steering axle assemblies 100 are arranged between two front wheels and between two rear wheels of the wire control chassis; the steering axle assembly 100 comprises a parallel four-bar linkage 110, and the parallel four-bar linkage 110 drives two wheels 200 to steer synchronously; the parallel four-bar linkage 110 is provided with two fixed hinge points a around which the wheels 200 turn; the steering angle of the two front wheels is greater than the steering angle of the two rear wheels.
According to the 4-wheel steering chassis suitable for the inspection robot, the steering axle assemblies 100 are arranged between the two front wheels and between the two rear wheels, so that the front wheels and the rear wheels can be driven to steer through the parallel four-bar linkage 110 on the steering axle assemblies 100 respectively. Compared with the condition that only one set of steer-by-wire chassis of the steering axle assembly 100 can only drive the front wheel or the rear wheel to rotate, the simultaneous steering of the front wheel and the rear wheel 200 can effectively reduce the turning radius and improve the passing performance of the inspection robot.
The structure and shape of the 4-wheel steering chassis suitable for the inspection robot provided in the present embodiment will be described in detail with reference to fig. 1 to 7.
In an alternative of this embodiment, the steer axle assembly 100 further includes two wheel frames 120. As shown in fig. 3 and 5, the two wheel frames 120 are connected to the corresponding wheels 200. The wheel frame 120 is provided with a rotating shaft hole b, which is coaxial with the fixed hinge point a, and the wheel frame 120 rotates around the rotating shaft hole b, that is, the wheel frame 120 rotates around the fixed hinge point a.
Specifically, as shown in fig. 5, the wheel frame 120 is further provided with a brake device 121, and the wheel 200 is braked by a brake disc and friction block matched brake mode to realize deceleration or stop, and prevent the unstable running caused by the increase of centrifugal force due to the too high running speed when the inspection robot turns. Further, the friction block can be driven by air or electricity, so that the friction block presses the brake disc to brake.
Optionally, a speed sensor is further disposed on the wheel frame 120 to monitor the rotation speed of each wheel 200, so as to control the vehicle speed in real time and ensure a reasonable driving speed.
In an alternative of this embodiment, the parallel four-bar linkage 110 includes a steering swing arm 111, a driven swing arm 112, and a driving link 113. As shown in fig. 3 and 4, the steering swing arm 111 and the driven swing arm 112 are respectively connected to the wheel frame 120, and both ends of the driving link 113 are respectively hinged to the steering swing arm 111 and the driven swing arm 112. The steering swing arm 111 and the driven swing arm 112 are each configured to swing around the rotation shaft hole b, thereby driving the wheel frame 120 to rotate around the rotation shaft hole b to achieve steering of the wheel 200.
Specifically, the distance from the hinge point of the driving link 113 and the steering swing arm 111 to the corresponding fixed hinge point a is equal to the distance from the hinge point of the driving link 113 and the driven swing arm 112 to the corresponding fixed hinge point a, and the distance from the two fixed hinge points a is equal to the distance from the hinge point of the driving link 113 and the hinge point of the steering swing arm 111 and the driven swing arm 112, so as to form a parallel four-bar linkage mechanism, thereby realizing the action of driving the driving link 113 by pushing the steering swing arm 111 to swing, further enabling the driving link 113 to drive the driven swing arm 112 to swing, achieving the purpose of synchronously driving the steering swing arm 111 and the driven swing arm 112, and enabling the two wheels 200 of the front wheel or the rear wheel to synchronously turn.
Further, the parallel four bar linkage 110 includes a first rod end knuckle bearing 114. As shown in fig. 3 and 4, two first rod end oscillating bearings 114 are respectively disposed at two ends of the driving link 113, and the first rod end oscillating bearings 114 are respectively hinged to the steering oscillating arm 111 and the driven oscillating arm 112. Specifically, a rod end of the first rod end joint bearing 114 is in threaded connection with two ends of the driving connecting rod 113, and a joint bearing of the first rod end joint bearing 114 is hinged with the steering swing arm 111 and the driven swing arm 112. By using the first rod end joint bearing 114 for connection, the distance between two hinged points of the steering swing arm 111, the driven swing arm 112 and the driving connecting rod 113 can be conveniently adjusted, and the influence caused by errors in processing and manufacturing is avoided. Meanwhile, the joint bearing can adapt to the error of coaxiality, so that the parallel four-bar linkage mechanism 110 runs more smoothly, and the jamming cannot be caused when large vibration impact occurs. In addition, the first rod end joint bearing 114 is used for connection, the convenience of maintenance is improved, the maintenance cost is reduced, when parts at the hinged part are worn, the first rod end joint bearing 114 can be replaced, and the driving connecting rod 113 does not need to be completely replaced.
In this embodiment, the steering axle assembly 100 further includes a rack and pinion assembly 130, as shown in FIG. 3. The output end of the rack and pinion assembly 130 is hinged to the steering swing arm 111 to drive the steering swing arm 111 to swing. The core parts of the rack and pinion assembly 130, namely the gear and the rack, push the rack holder to move linearly by the rotation of the gear, and further push the steering swing arm 111 to move.
In this embodiment, the steering axle assembly 100 further includes a second rod end knuckle bearing 140, a rod end of the second rod end knuckle bearing 140 is connected to an output end of the rack and pinion assembly 130, and a knuckle bearing of the second rod end knuckle bearing 140 is hinged to the steering swing arm 111. Similarly, the second rod end knuckle bearing 140 reduces assembly difficulty, better adapts to machining errors, and enables smooth and stable operation.
In this embodiment, the length of the steering swing arm 111 is greater than that of the driven swing arm 112, the hinge point of the driving link 113 and the steering swing arm 111 is located in the middle of the steering swing arm 111, and the hinge point of the output end of the rack and pinion assembly 130 and the steering swing arm 111 is located at the end of the steering swing arm 111. Optionally, according to the actual layout requirement, the hinge point between the output end of the rack-and-pinion assembly 130 and the steering swing arm 111 is located in the middle of the steering swing arm 111, but the moment arm is smaller, and a larger driving force is required to drive the steering swing arm 111 to swing under the same condition.
In this embodiment, the steering axle assembly 100 further includes a worm and gear steering motor 150, an output end of the worm and gear steering motor 150 is connected to an input end of the rack and pinion assembly 130, and the rotation output by the worm and gear steering motor 150 is converted into the linear motion of the rack and pinion assembly 130. Specifically, the output end of the worm and gear steering motor 150 is coaxially connected with a gear in the rack and pinion assembly 130 to drive the gear to rotate, and the wheel frame 120 is driven by the parallel four-bar linkage 110 to steer the wheel 200. Alternatively, other driving power may be used, such as pneumatic driving, hydraulic driving, and specifically, a pneumatic cylinder or a hydraulic cylinder is used to directly drive the steering swing arm 111.
In this embodiment, the 4-wheel steering chassis suitable for the inspection robot further includes a driving motor 300, as shown in fig. 1, 2, and 4, the driving motor 300 is used for driving the wheels 200 to roll.
Specifically, the 4-wheel steering chassis suitable for the inspection robot further includes a universal joint 800, and the universal joint 800 is connected with the wheels 200, as shown in fig. 4. The driving motor 300 is a double-output shaft motor, and the two output shafts are respectively connected with the universal joint 800 to ensure power output during steering.
The 4-wheel steering chassis suitable for the inspection robot provided by the embodiment is used for rear-drive four-wheel steering, and obviously, a driving mode of front-drive four-wheel steering can also be adopted.
In this embodiment, as shown in fig. 1 and 2, the 4-wheel steering chassis suitable for the inspection robot further includes a chassis frame 400, the steering axle assembly 100 is mounted to the chassis frame 400 through the rack-and-pinion assembly 130, and the rack-and-pinion assembly 130 is hinged to the chassis frame 400, so that when the steering swing arm 111 is driven to swing, the rack-and-pinion assembly 130 swings correspondingly to ensure structural rationality, and at this time, the worm and gear steering motor 150 swings with the rack-and-pinion assembly 130.
In this embodiment, the 4-wheel steering chassis suitable for the inspection robot further includes a fixing base 700. As shown in fig. 4, the fixing seats 700 are connected to the chassis frame 400, and two fixing seats 700 are disposed at both sides of the driving motor 300. The wheel frame 120 is hinged to the fixing base 700 to connect the wheel 200 with the chassis frame 400.
In this embodiment, the 4-wheel steering chassis suitable for the inspection robot further includes a fixing shaft 500 and a mounting base 600, as shown in fig. 1 and 3, the mounting base 600 is connected to the chassis frame 400, and the middle portion of the fixing shaft 500 is connected to the mounting base 600. The two ends of the fixed shaft 500 are hinged to the wheel frame 120, the hinged point is coaxial with the fixed hinged point a, and the fixed shaft 500 is parallel to the driving link 113.
In the alternative of this embodiment, set up angle sensor in fixed hinge point a department to the actual angle of turning of each wheel 200 of monitoring, the accurate control turning radius of being convenient for prevents simultaneously to be obstructed because of the wheel 200 turns to appearing, leads to turning radius and theoretical output inconsistent, influences actual turning, leads to when turning because of the too big circumstances such as collision of turning radius.
In contrast to the turning radius of the rear-drive front steering chassis, as shown in fig. 6, the inclined short line is the steered wheel 200, the steering angle of the wheel 200 is the same, and the horizontal short line is the non-steerable driving wheel 200. Taking the turning radius of the wheel 200 at point a as an example, and taking an auxiliary line perpendicular to the rolling direction of the wheel 200 as an example, it is obvious that the turning radius of the present embodiment is smaller than that of the rear-drive front-steering, and the distance between the points a and B is the turning radius of the four-wheel steering, and the distance between the points a and C is the turning radius of the rear-drive front-steering.
In the present embodiment, the steering angle of the two front wheels is not more than 48 ° and the steering angle of the two rear wheels is not more than 24 °, subject to structural and spatial layout constraints. When a minimum turning radius is required, the steering angle of the two front wheels is 48 ° and the steering angle of the two rear wheels is 24 ° to obtain the best passing performance. Optionally, the steering angle of the two front wheels is twice that of the two rear wheels during turning, so that the front wheels and the rear wheels rotate simultaneously, the turning radius is reduced, the turning smoothness is improved, and the sliding friction is reduced. Specifically, as shown in fig. 7, point a is the center of a turn when two front wheels steer by 30 ° and two rear wheels steer by 15 °; in the figure, the circle is a turning track from a point A to the edge of a 4-wheel steering chassis suitable for the inspection robot by taking the point A as the center of a circle; in the figure, the point B is two front wheels which turn to 30 degrees, and the circle centers of the turning when the two rear wheels do not turn to, obviously, the point B is far away from a 4-wheel steering chassis suitable for the inspection robot compared with the point A, and the corresponding turning radius is larger.
The working process of the 4-wheel steering chassis suitable for the inspection robot provided by the embodiment is as follows:
the driving motor 300 is started, power is transmitted through the universal joint 800, the driving wheels 200 roll, and the inspection robot is made to perform inspection. When turning is needed, the turning mode can be selected according to the size of the turning radius.
When the turning radius is larger, only the worm and gear steering motor 150 for controlling the steering of the front wheel is started, the parallel four-bar linkage 110 is driven by the rack and pinion assembly 130, the wheel frame 120 drives the front wheel to steer, and the steering angle is selected according to the turning radius, so that the turning is finished, redundant actions are avoided, and the energy consumption is reduced.
When turning radius is less, start two worm gear steering motor 150 simultaneously, make the front and back wheel turn to simultaneously, reduce turning radius to improve narrow road trafficability characteristic, pass through sharp turn smoothly or realize that the narrow road turns around, and reduce because of the too narrow complicated process of turning around that leads to of road, reduce time and energy consumption, improve and patrol and examine efficiency. Since the front and rear wheels 200 can control the steering angle respectively, the steering angles of the front and rear wheels 200 and 200 can be selected respectively according to the turning radius during steering, and steering can be performed in an optimal manner, so that the energy consumed by the worm and gear steering motor 150 is reasonable, and unnecessary energy consumption is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (12)
1. A4-wheel steering chassis suitable for an inspection robot is characterized in that steering axle assemblies (100) are arranged between two front wheels and between two rear wheels;
the steering axle assembly (100) comprises a parallel four-bar linkage (110), and the parallel four-bar linkage (110) drives two wheels (200) to synchronously steer;
the parallel four-bar linkage (110) is provided with two fixed hinged points (a), and wheels (200) turn around the fixed hinged points (a);
the steering angle of the two front wheels is greater than the steering angle of the two rear wheels.
2. The 4-wheel steering chassis suitable for the inspection robot according to claim 1, wherein the steering axle assembly (100) further comprises two wheel frames (120), and the two wheel frames (120) are respectively connected with corresponding wheels (200);
the wheel frame (120) is provided with a rotating shaft hole (b), the rotating shaft hole (b) is coaxial with the fixed hinge point (a), and the wheel frame (120) rotates around the rotating shaft hole (b).
3. The 4-wheel steering chassis suitable for use in an inspection robot according to claim 2, wherein the parallel four-bar linkage (110) includes a steering swing arm (111), the steering swing arm (111) being connected with the wheel frame (120);
the steering swing arm (111) is configured to swing around the rotating shaft hole (b) so as to drive the wheel frame (120) to rotate around the rotating shaft hole (b).
4. The 4-wheel steering chassis suitable for use in an inspection robot according to claim 3, wherein the parallel four-bar linkage (110) further includes a driven swing arm (112), the driven swing arm (112) being connected with the wheel frame (120);
the driven swing arm (112) is configured to swing around the rotating shaft hole (b) so as to drive the wheel frame (120) to rotate around the rotating shaft hole (b).
5. The 4-wheel steering chassis suitable for the inspection robot according to claim 4, wherein the parallel four-bar linkage (110) further comprises a driving link (113), one end of the driving link (113) is hinged with the steering swing arm (111), and the other end is hinged with the driven swing arm (112).
6. The 4-wheel steering chassis suitable for use in an inspection robot according to claim 5, wherein the parallel four-bar linkage (110) further includes a first rod end knuckle bearing (114);
the two first rod end joint bearings (114) are respectively arranged at two ends of the driving connecting rod (113), and the first rod end joint bearings (114) are respectively hinged with the steering swing arm (111) and the driven swing arm (112).
7. The 4-wheel steering chassis suitable for the inspection robot according to claim 6, wherein the steering axle assembly (100) further comprises a rack and pinion assembly (130), and an output end of the rack and pinion assembly (130) is hinged with the steering swing arm (111) to drive the steering swing arm (111) to swing.
8. The 4-wheel steering chassis suitable for the inspection robot is characterized in that the steering axle assembly (100) further comprises a second rod end joint bearing (140), a rod end of the second rod end joint bearing (140) is connected with an output end of the gear rack assembly (130), and a joint bearing of the second rod end joint bearing (140) is hinged with the steering swing arm (111).
9. The 4-wheel steering chassis suitable for the inspection robot according to claim 8, wherein the steering axle assembly (100) further comprises a worm and gear steering motor (150), an output end of the worm and gear steering motor (150) is connected with an input end of the rack and pinion assembly (130), and rotation output by the worm and gear steering motor (150) is converted into linear motion of the rack and pinion assembly (130).
10. The 4-wheel steering chassis suitable for use in an inspection robot according to claim 1, wherein the steering angle of the two front wheels is no greater than 48 ° and the steering angle of the two rear wheels is no greater than 24 °.
11. The 4-wheel steering chassis suitable for inspection robots of claim 10, wherein the steering angle of the two front wheels is 30 ° and the steering angle of the two rear wheels is 15 °.
12. The 4-wheel steering chassis suitable for the inspection robot according to claim 1, 10 or 11, wherein the steering angle of the two front wheels is twice the steering angle of the two rear wheels.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220158737.6U CN217022649U (en) | 2022-01-20 | 2022-01-20 | 4-wheel steering chassis suitable for inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220158737.6U CN217022649U (en) | 2022-01-20 | 2022-01-20 | 4-wheel steering chassis suitable for inspection robot |
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| CN217022649U true CN217022649U (en) | 2022-07-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279773A (en) * | 2023-05-23 | 2023-06-23 | 江苏华恬节能科技有限公司 | Power-driven steering mechanism of workshop transport vehicle |
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2022
- 2022-01-20 CN CN202220158737.6U patent/CN217022649U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279773A (en) * | 2023-05-23 | 2023-06-23 | 江苏华恬节能科技有限公司 | Power-driven steering mechanism of workshop transport vehicle |
| CN116279773B (en) * | 2023-05-23 | 2023-07-25 | 江苏华恬节能科技有限公司 | Power-driven steering mechanism of workshop transport vehicle |
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