CN109421835A - Ground adaptive universal type chassis and robot - Google Patents
Ground adaptive universal type chassis and robot Download PDFInfo
- Publication number
- CN109421835A CN109421835A CN201710751671.5A CN201710751671A CN109421835A CN 109421835 A CN109421835 A CN 109421835A CN 201710751671 A CN201710751671 A CN 201710751671A CN 109421835 A CN109421835 A CN 109421835A
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- base plate
- horizonal base
- ground
- type chassis
- driving
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 52
- 238000005452 bending Methods 0.000 claims description 10
- 239000003381 stabilizer Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
The present invention provides a kind of ground adaptive universal type chassis and robots, belong to robotic technology field, including horizonal base plate, two driving wheels, two universal wheels, after-poppet, balancing pole and revolute, two driving wheels pass through two driving motor drivings respectively, the line of centres of two universal wheels and the line of centres of two driving wheels are mutually perpendicular to, one of them described universal wheel is connect by the after-poppet with the horizonal base plate, the output shaft and another described universal wheel of two driving motors are respectively rotation connection with the balancing pole, it is fixedly connected with the horizonal base plate and is rotatablely connected with the balancing pole.Ground adaptive universal type chassis provided by the invention has ground adaptive ability, allows the ground that various protrusions and pit are smoothly passed using the robot on the chassis, greatly extend all-purpose robot utilizes space.
Description
Technical field
The invention belongs to robotic technology fields, more specifically, be related to a kind of ground adaptive universal type chassis and
Robot with the chassis.
Background technique
It is mainly improved using the resilient suspension system that the elements such as spring damping form on existing general robot chassis
The passability on robot chassis, when encountering ground protrusion, spring-compressed, when encountering pit, spring extends, but this side
Formula for chassis passability improvement effect than relatively limited, generally have more specific section, and a suspension for loading
Selection and Design is complex, and practical application effect is general.
Summary of the invention
The purpose of the present invention is to provide a kind of ground adaptive universal type chassis, to solve bottom existing in the prior art
The technical problem that disk passability is bad, carrying adaptability is poor.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of ground adaptive universal type chassis is provided, wrap
It includes:
Horizonal base plate；
Two driving wheels pass through two driving motor drivings respectively；
Two universal wheels, the line of centres of two universal wheels and the line of centres of two driving wheels mutually hang down
Directly；
After-poppet, one of them described universal wheel are connect by the after-poppet with the horizonal base plate；
Balancing pole, the output shaft and another described universal wheel of two driving motors are with the balancing pole respectively
Rotation connection；
Revolute is fixedly connected with the horizonal base plate and is rotatablely connected with the balancing pole.
Further, the balancing pole includes motor cover for coating two driving motors and is connected to described
The output shaft difference of the front end of motor cover and the foreboard for being used to connect another universal wheel, two driving motors is outside
It is rotatablely connected across the motor cover and with the motor cover, the revolute and the motor cover are rotatablely connected, and are propped up after described
Frame, two driving motors, the foreboard and the motor cover are in the same side of the horizonal base plate, the horizontal base
The through-hole that passes through and can rotate freely for two universal wheels is provided on plate.
Further, the motor cover includes two side plates and a bending being connected between two side plates
Plate, the side plate that the output shaft of two driving motors is each passed through corresponding side are connect with the driving wheel, institute
Foreboard is stated to connect with the bending plate.
Further, the revolute includes a connecting shaft and the support base for being rotationally connected with the connecting shaft both ends, and two
A support base passes through bolt respectively and connect with the horizonal base plate, and the both ends of the connecting shaft are each passed through two branch
It supports seat and two side plates and is rotatablely connected with two side plates.
Further, two side plate interior sides are separately connected one and the output shaft rotation of the driving motor connects
The accessory plate connect.
Further, the horizontal U that the both ends of the connecting shaft turn through is separately provided on two side plates
The axis of type groove, the horizontally U-shaped slot is parallel with the plane where the horizonal base plate.
Further, the output shaft that the driving motor is separately provided on two side plates is passed through and is opened downwards
The vertical U-type groove of mouth, the axis of the vertical U-type groove are vertical with the plane where the horizonal base plate.
Further, two side plates, the bending plate and the foreboard are integrally formed.
Further, the after-poppet includes the stabilizer blades of horizontal supporting plate and four for connecting with the horizonal base plate,
One of them described universal wheel is fixedly connected with the horizontal supporting plate.
The beneficial effect on ground adaptive universal type chassis provided by the invention is: compared with prior art, the present invention
Ground adaptive universal type chassis be established using balancing pole and revolute it is adaptive between driving wheel, universal wheel and horizonal base plate
Balance adjustment relationship is answered, four of different role is made to take turns the ability for having certain automatic adaptation ground level in Different Ground,
Guarantee that each wheel can uniformly land, allow the ground for smoothly passing various protrusions and pit using the robot on the chassis,
And the requirement for load is no longer sensitive, and greatly extend all-purpose robot utilizes space, may be directly applied to service
Robot, crusing robot and the factory all kinds of mobile robot fields such as automation trolley.
The object of the invention is also to provide a kind of robots, including described in any item ground adaptive universals among the above
Type chassis.
The beneficial effect of robot provided by the invention is: due to using above-mentioned chassis, substantially increasing machine
People smoothly passes the adaptive ability on various concave-convex ground.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view one on ground adaptive universal type chassis provided in an embodiment of the present invention；
Fig. 2 is the schematic perspective view two on ground adaptive universal type chassis provided in an embodiment of the present invention；
Fig. 3 is the schematic view of the front view on ground adaptive universal type chassis provided in an embodiment of the present invention；
Fig. 4 is the present invention looks up structural representation of Fig. 3；
Fig. 5 is the three-dimensional knot removed after a driving wheel on ground adaptive universal type chassis provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 6 is that the stereochemical structure for removing horizonal base plate on ground adaptive universal type chassis provided in an embodiment of the present invention is shown
It is intended to；
Fig. 7 is that the vertical of horizonal base plate and balancing pole is removed on ground adaptive universal type chassis provided in an embodiment of the present invention
Body structural schematic diagram；
Fig. 8 removes horizonal base plate, balancing pole and two for ground adaptive universal type chassis provided in an embodiment of the present invention
The schematic perspective view one of a driving wheel；
Fig. 9 removes horizonal base plate, balancing pole and two for ground adaptive universal type chassis provided in an embodiment of the present invention
The schematic perspective view two of a driving wheel；
Figure 10 removes horizonal base plate, two driving wheels for ground adaptive universal type chassis provided in an embodiment of the present invention
And the schematic perspective view one of driving motor；
Figure 11 removes horizonal base plate, two driving wheels for ground adaptive universal type chassis provided in an embodiment of the present invention
And the schematic perspective view two of driving motor；
Figure 12 is the structural schematic diagram of the middle balancing pole on ground adaptive universal type chassis provided in an embodiment of the present invention；
Figure 13 is the structural schematic diagram of the middle horizonal base plate on ground adaptive universal type chassis provided in an embodiment of the present invention；
Figure 14 is the structural schematic diagram of the middle revolute on ground adaptive universal type chassis provided in an embodiment of the present invention；
Figure 15 is the principle schematic diagram on ground adaptive universal type chassis provided in an embodiment of the present invention.
Wherein, each appended drawing reference in figure:
1- horizonal base plate；2- after-poppet；21- horizontal supporting plate；22- stabilizer blade；3- balancing pole；31- bending plate；32- side plate；
33- foreboard；34- horizontally U-shaped slot；The vertical U-type groove of 35-；4- driving motor；5- driving wheel；6- universal wheel；7- through-hole；8- rotation
It is secondary；81- accessory plate；82- support base；83- connecting shaft.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 4, Figure 15, now ground adaptive universal type chassis provided by the invention is illustrated.
The ground adaptive universal type chassis, horizonal base plate 1；
Two driving wheels 5 are driven by two driving motors 4 respectively；
Two universal wheels 6, the line of centres of two universal wheels 6 and the line of centres of two driving wheels 5 are mutual
Vertically；
After-poppet 2, one of them described universal wheel 6 are connect by the after-poppet 2 with the horizonal base plate 1；
Balancing pole 3, the output shaft and another described universal wheel 6 of two driving motors 4 respectively with the balance
Bar 3 is rotation connection；
Revolute 8 is fixedly connected with the horizonal base plate 1 and is rotatablely connected with the balancing pole 3.
Ground adaptive universal type chassis provided by the invention, compared with prior art, ground adaptive universal of the present invention
Type chassis is the adaptive equalization tune established between driving wheel 5, universal wheel 6 and horizonal base plate 1 using balancing pole 3 and revolute 8
Section relationship makes four of different role take turns the ability for having certain automatic adaptation ground level in Different Ground, guarantees each wheel
It can uniformly land, allow to smoothly pass various raised and pit ground using the robot on the chassis, and for
The requirement of load is no longer sensitive, and greatly extend all-purpose robot utilizes space, may be directly applied to service robot, patrols
Examine robot and the factory all kinds of mobile robot fields such as automation trolley.
Further, also referring to Fig. 1 to Fig. 4, Figure 13, as ground adaptive universal type chassis provided by the invention
A kind of specific embodiment, the balancing pole 3 includes motor cover for coating two driving motors 4 and is connected to
The front end of the motor cover and the foreboard 33 for being used to connect another universal wheel 6, the output shaft of two driving motors 4
The motor cover is passed outwards through respectively and is rotatablely connected with the motor cover, the revolute 8 is rotatablely connected with the motor cover,
2, two driving motors 4 of the after-poppet, the foreboard 33 and the motor cover are in the same of the horizonal base plate 1
Side is provided with the through-hole 7 that passes through and can rotate freely for two universal wheels 6 on the horizonal base plate 1.The present embodiment
In, two driving wheels 5 and a universal wheel 6 are combined into a balanced body by balancing pole 3, pass through revolute 8 and 1 phase of horizonal base plate
Even, another universal wheel 6 and one balanced body of composition of horizonal base plate 1.When ground of the chassis by protrusion, with 33 phase of foreboard
Ground face contact of the universal wheel 6 even first with protrusion, and lifted with the rotation for projecting through revolute 8 of landing ground, at this time
Driving wheel 5 still with ground face contact, pushes entire chassis to advance, when chassis is advanced from the ground of protrusion to lowland, with foreboard
33 connected universal wheels 6 are moved down with the topography on ground by the effect of revolute 8, at this point, the rotation adjustment of driving wheel 5 adapts to
Ground still can drive entire chassis to advance, chassis is made to continue to move ahead with ground face contact.
Described herein to be, each position of the balancing pole 3 and four wheels do not contact with horizonal base plate 1, wherein
It is reserved with the gap for adapting to adjust between balancing pole 3 and horizonal base plate 1, adjusts energy to guarantee that each concave-convex ground of wheel adaptation has
Power, wherein reserved gap can be clearly seen from Fig. 5.
Further, Fig. 5, Figure 10 are please referred to Figure 12, as ground adaptive universal type chassis provided by the invention
A kind of specific embodiment, the motor cover include two side plates 32 and a folding being connected between two side plates 32
Bent plate 31, the output shaft of two driving motors 4 are each passed through the side plate 32 and the driving wheel 5 of corresponding side
Connection, the foreboard 33 are connect with the bending plate 31.Wherein, two driving motors 4 be located in motor cover and with horizonal base plate 1
Between be reserved with adjust gap, can be rotated with the rotation of motor cover, to cooperate adjusting with concave-convex ground for driving wheel 5
Section.
Further, refering to Fig. 5 to Fig. 6, one kind as ground adaptive universal type chassis provided by the invention is specific
Embodiment, the revolute 8 include a connecting shaft 83 and are rotationally connected with the support base 82 at 83 both ends of connecting shaft, and two
The support base 82 is connect by bolt with the horizonal base plate 1 respectively, and the both ends of the connecting shaft 83 are each passed through two institutes
It states support base 82 and two side plates 32 and is rotatablely connected with two side plates 32.In the present embodiment, revolute 8 makes to put down
Weighing apparatus bar 3 and horizonal base plate 1 can have the function of rotation mutually to reach the ability on adaptive ground.Wherein, the support base
82 be preferably bearing block, is equipped with bearing in bearing block, rotates connecting shaft 83 flexibly.Wherein, Fig. 7 shows rotation into Figure 11
Turn the installation site in chassis of pair 8.
Further, Fig. 6 and Figure 14 is please referred to, a kind of tool as ground adaptive universal type chassis provided by the invention
Body embodiment, the output shaft that one and the driving motor 4 are separately connected on the inside of two side plates 32 are rotatablely connected
Accessory plate 81.In the present embodiment, accessory plate 81 is bolted with side plate 32, accessory plate 81 and above-mentioned support base 82 it
Between there are gaps in order to which the balancing pole 3 rotates and adapts to the ability on ground, stayed between the accessory plate 81 and horizonal base plate 1
There is gap, wherein the structural schematic diagram of revolute 8 is given in Figure 14, individually in order to which accessory plate 81 and support is clearly seen
Gap between seat 82.
Further, Fig. 5, Figure 10 are please referred to 12, one as ground adaptive universal type chassis provided by the invention
Specific embodiment is planted, is separately provided for the level that the both ends of the connecting shaft 83 turn through on two side plates 32
U-type groove 34, the axis of the horizontally U-shaped slot 34 are parallel with the plane where the horizonal base plate 1.In the present embodiment, both side plate
32, bending plate 31 and foreboard 33 constitute a balancing pole 3, and two driving wheels 5 and a universal wheel 6 are combined into a balance
Body is rotatablely connected by connecting shaft 83 and horizonal base plate 1, and the rear end of horizonal base plate 1 is connect with another universal wheel 6, constitutes one
A new balance system.When chassis forward direction passes through raised ground, the universal wheel 6 being connected on foreboard 33 reacts first, balance
3 front end of bar is lifted, and two driving wheels 5 still with ground face contact, push chassis to advance, the principle phase of other processes and the process
Together, it repeats no more.
Further, one kind refering to Fig. 5, Figure 10 to 12, as ground adaptive universal type chassis provided by the invention
Specific embodiment, the output shaft that the driving motor 4 is separately provided on two side plates 32 are passed through and are opened downwards
The vertical U-type groove 35 of mouth, the axis of the vertical U-type groove 35 are vertical with the plane where the horizonal base plate 1.Vertical U-type groove
35 make two driving wheels 5 vertically have certain freedom degree, when by rugged ground, since vertical U-type groove 35 makes
Output shaft has the driving wheel 5 of certain regulating power namely two sides can not be in the same horizontal plane in above-below direction, Neng Goushi
Answer the high low-lying in two sides and still with ground face contact, drive chassis move ahead.Therefore, four wheels are encountering different topography ground
When, it can be at the different position of optimal height, when so that passing through various ground, balancing pole 3 can make different appearances
State variation, guarantees the continuous contact of driving wheel 5 and ground, guarantees to pass through.
In the present embodiment, two side plates 32, the bending plate 31 and the foreboard 33 are integrally formed, convenient for system
Make and assembles.
Further, referring to Fig. 5, a kind of specific implementation as ground adaptive universal type chassis provided by the invention
Mode, water locating for the line of centres of horizontal plane and two driving wheels 5 locating for the line of centres of two universal wheels 6
Plane is not overlapped.Meanwhile two universal wheels 6 and two driving wheels 5 are symmetrical as symmetry axis using the line of centres of other side respectively.
Further, Fig. 3, Fig. 6, Fig. 8 and Figure 11 are please referred to, as ground adaptive universal type chassis provided by the invention
A kind of specific embodiment, the after-poppet 2 includes horizontal supporting plate 21 and four for connecting with the horizonal base plate 1
Stabilizer blade 22, one of them described universal wheel 6 are fixedly connected with the horizontal supporting plate 21.Wherein the foreboard 33 with it is horizontally-supported
Plate 21 is in same level and parallel with horizonal base plate 1, so that being capable of plateau bottom when four wheels are in level ground
Plate 1.
Balancing pole mentioned in the present embodiment, in a particular application, in the centre of balancing pole and top/bottom latitude
Rotation position is set, and rotation position can be and fix upwards with horizonal base plate, be also possible to fix with horizonal base plate downwards, no
Described in limitation and the present embodiment.
In the present embodiment, with horizonal base plate fixed universal wheel can by crossbeam and two steering wheel groups at balancing stand replace
Change, or other achievable mode, be not limited to the embodiment described in.
The present invention also provides a kind of robot, the machine includes described in any item ground adaptive universal types among the above
Chassis.
Robot provided by the invention, using above-mentioned chassis, by the way of the combination of front and back different directions balancing pole,
All-purpose robot chassis is greatly improved for the adaptability of Different Ground, it is suitable to change previous all-purpose robot chassis ground
Should be able to power difference status, structure is simple, and cost of manufacture has the universal chassis of same type for reaching at present close to effect
It significantly saves, effect promoting is obvious.
In a particular embodiment, chassis provided in this embodiment is also applied to service robot, crusing robot and work
Station-service automates the mobile robots fields such as trolley.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. ground adaptive universal type chassis characterized by comprising
Horizonal base plate；
Two driving wheels pass through two driving motor drivings respectively；
Two universal wheels, the line of centres of two universal wheels and the line of centres of two driving wheels are mutually perpendicular to；
After-poppet, one of them described universal wheel are connect by the after-poppet with the horizonal base plate；
Balancing pole, the output shaft and another described universal wheel of two driving motors are respectively rotation with the balancing pole
Connection；
Revolute is fixedly connected with the horizonal base plate and is rotatablely connected with the balancing pole.
2. ground adaptive universal type chassis as described in claim 1, it is characterised in that: the balancing pole includes for coating
The motor cover of two driving motors and it is connected to the front end of the motor cover and for connecting another universal wheel
Foreboard, the output shaft of two driving motors pass outwards through respectively the motor cover and with the motor cover be rotatablely connected,
The revolute and the motor cover are rotatablely connected, the after-poppet, two driving motors, the foreboard and the motor
Cover is in the same side of the horizonal base plate, is provided with and passes through for two universal wheels and can be from the horizonal base plate
By the through-hole rotated.
3. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that: the motor cover includes two side plates
And a bending plate being connected between two side plates, the output shaft of two driving motors are each passed through phase
The side plate of side is answered to connect with the driving wheel, the foreboard is connect with the bending plate.
4. ground adaptive universal type chassis as claimed in claim 3, it is characterised in that: the revolute includes a connecting shaft
And it is rotationally connected with the support base at the connecting shaft both ends, two support bases pass through bolt respectively and the horizonal base plate connects
It connects, the both ends of the connecting shaft are each passed through two support bases and two side plates and rotate with two side plates
Connection.
5. ground adaptive universal type chassis as claimed in claim 4, it is characterised in that: two side plate interior sides connect respectively
Connect the accessory plate being rotatablely connected with the output shaft of the driving motor.
6. ground adaptive universal type chassis as claimed in claim 3, it is characterised in that: be respectively set on two side plates
There are the horizontally U-shaped slot that the both ends for the connecting shaft turn through, the axis of the horizontally U-shaped slot and the horizonal base plate institute
Plane it is parallel.
7. ground adaptive universal type chassis as claimed in claim 3, it is characterised in that: be respectively set on two side plates
There is the output shaft for the driving motor to pass through and downwardly open vertical U-type groove, the axis of the vertical U-type groove with it is described
Plane where horizonal base plate is vertical.
8. ground adaptive universal type chassis as claimed in claim 3, it is characterised in that: two side plates, the bending
Plate and the foreboard are integrally formed.
9. ground adaptive universal type chassis as described in claim 1, it is characterised in that: the after-poppet includes horizontally-supported
Plate and four stabilizer blades for being connect with the horizonal base plate, one of them described universal wheel and the fixed company of the horizontal supporting plate
It connects.
10. robot, it is characterised in that: including ground adaptive universal type domain as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751671.5A CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710751671.5A CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109421835A true CN109421835A (en) | 2019-03-05 |
| CN109421835B CN109421835B (en) | 2024-07-02 |
Family
ID=65502573
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710751671.5A Active CN109421835B (en) | 2017-08-28 | 2017-08-28 | Ground self-adaptive universal chassis and robot |
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| CN (1) | CN109421835B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19608643C1 (en) * | 1996-03-06 | 1997-05-28 | Weirich Hans Joachim | Transportation trolley with running gear |
| US20030106725A1 (en) * | 1998-12-03 | 2003-06-12 | Koji Irikura | Multi-wheel vehicle |
| CN201484100U (en) * | 2009-09-24 | 2010-05-26 | 浙江大学 | Uniform landing device for robot car body |
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| US20160251044A1 (en) * | 2015-02-01 | 2016-09-01 | Genesis Advanced Technology Inc. | Mobile platform |
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN207360451U (en) * | 2017-08-28 | 2018-05-15 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
-
2017
- 2017-08-28 CN CN201710751671.5A patent/CN109421835B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19608643C1 (en) * | 1996-03-06 | 1997-05-28 | Weirich Hans Joachim | Transportation trolley with running gear |
| US20030106725A1 (en) * | 1998-12-03 | 2003-06-12 | Koji Irikura | Multi-wheel vehicle |
| CN201484100U (en) * | 2009-09-24 | 2010-05-26 | 浙江大学 | Uniform landing device for robot car body |
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| US20160251044A1 (en) * | 2015-02-01 | 2016-09-01 | Genesis Advanced Technology Inc. | Mobile platform |
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN207360451U (en) * | 2017-08-28 | 2018-05-15 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109421835B (en) | 2024-07-02 |
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