CN110481306B - A shock-absorbing chassis for a robot with flexible steering - Google Patents
A shock-absorbing chassis for a robot with flexible steering Download PDFInfo
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- CN110481306B CN110481306B CN201910836391.3A CN201910836391A CN110481306B CN 110481306 B CN110481306 B CN 110481306B CN 201910836391 A CN201910836391 A CN 201910836391A CN 110481306 B CN110481306 B CN 110481306B
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- 230000035939 shock Effects 0.000 claims abstract description 25
- 239000006096 absorbing agent Substances 0.000 claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 claims description 28
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000013016 damping Methods 0.000 description 11
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 101150117538 Set2 gene Proteins 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
- B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种灵活转向的机器人减震底盘，属于机器人技术领域。它包括驱动轮组、从动轮组、底板、工字架、从动齿轮、驱动齿轮组、顶板等。两组驱动轮组对称安装于底板后部两侧，两组从动轮组对称安装于顶板两侧且位于底板前部两侧，顶板与底板间通过工字架连接，驱动齿轮组安装在底板前部并与安装于从动轮组上的从动齿轮配合。在底盘移动过程中底盘后部驱动轮组作为机器人的动力使得机器人可以前后移动，底盘前部从动轮组及驱动齿轮组共同作用使得机器人在移动过程中可以进行灵活转向；在驱动轮组及从动轮组处均设有减震器使得机器人有良好的地形通过性。本发明具有灵活性强、通过性好、拆装方便、性能可靠等优点。
The present invention discloses a robot shock-absorbing chassis with flexible steering, which belongs to the field of robot technology. It includes a driving wheel group, a driven wheel group, a bottom plate, an I-shaped frame, a driven gear, a driving gear group, a top plate, etc. Two groups of driving wheel groups are symmetrically installed on both sides of the rear of the bottom plate, and two groups of driven wheel groups are symmetrically installed on both sides of the top plate and located on both sides of the front of the bottom plate. The top plate and the bottom plate are connected by an I-shaped frame, and the driving gear group is installed in the front of the bottom plate and cooperates with the driven gear installed on the driven wheel group. During the movement of the chassis, the driving wheel group at the rear of the chassis serves as the power of the robot so that the robot can move forward and backward. The driven wheel group and the driving gear group at the front of the chassis work together to enable the robot to flexibly turn during the movement; shock absorbers are provided at the driving wheel group and the driven wheel group so that the robot has good terrain passability. The present invention has the advantages of strong flexibility, good passability, convenient disassembly and assembly, and reliable performance.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible steering damping chassis of a robot.
Background
With the rapid development of artificial intelligence technology, mobile robots are becoming popular in many fields.
At present, the damping structures of mobile robots are various, the damping effects generated by different damping structures are different, and the defects of insufficient stability, poor obstacle crossing performance, insufficient ground grabbing performance when passing uneven ground and the like of the robots caused by insufficient design of some damping structures exist when the robots move. Most chassis steering is performed by adopting a differential steering mode, and the steering radius is large by adopting the method, so that the flexibility of robot movement is limited to a certain extent.
For example, a wheeled household monitoring robot disclosed in the utility model patent publication No. CN 204585230U. The shock absorber is positioned on one side of the connecting plate, the shock absorbing mode is easy to cause the inclination of the wheel train structure, the central axis of the wheel forms an angle with the ground, and the maximum effect of the wheel cannot be exerted.
An omnidirectional full-drive mobile robot chassis with independent suspension is disclosed in the patent publication No. CN108327473A, for example. The steering structure is controlled by four motors, the motors swing along with the steering structure to cause damage easily, and the four independent suspensions have complex structures and high processing cost.
Disclosure of Invention
In view of the defects of the existing damping and steering structure of the mobile robot, the invention aims to provide the damping chassis of the robot, which can flexibly steer, and has the advantages of simple chassis structure and economy. The stability and the movement flexibility of the robot during road running are improved.
The solution for realizing the invention is as follows:
A flexible steering damping chassis for a robot comprises a driving wheel set, a driven wheel set, a bottom plate, an I-shaped frame, a driven gear, a driving gear set and a top plate. The two driven wheel sets are symmetrically positioned on the two sides of the front part of the bottom plate, the upper parts of the driven wheel sets are arranged on the top plate, and the driving gear sets are arranged on the front part of the bottom plate.
The driven wheel group comprises a turntable bearing, two sets of driven wheel connecting plate seats, two sets of driven wheel damper seats and a driven gear mounting plate are mounted on the lower portion of an outer ring of the turntable bearing, and a turntable bearing inner ring mounting hole is used for mounting the driven wheel group on a top plate.
The driven wheel group also comprises a driven wheel connecting plate seat, a driven wheel damper seat, a driven wheel connecting plate, a driven wheel axle, a flange bearing, a driven gear mounting plate, wheels, a damper, a bushing and a clamp spring.
The driven gear mounting plate is provided with two groups of mounting holes, one group of mounting holes in the driven gear mounting plate are used for mounting the driven gear mounting plate on the lower part of the turntable bearing, and the other group of mounting holes are used for connecting the driven gear.
The lower part of the driven wheel connecting plate seat is connected with the upper mounting hole of the driven wheel connecting plate to form a revolute pair.
The lower part of the driven wheel damper seat is connected with the upper mounting hole of the damper to form a revolute pair.
The driven wheel connecting plates are two groups in total and distributed on two sides of the wheel, wherein the middle mounting holes are respectively connected with the lower mounting holes of the two groups of shock absorbers to form a revolute pair, and the lower mounting holes are respectively connected with the two groups of flange bearings.
The driving gear set comprises a driving gear, a flange plate, a motor mounting frame and a motor.
The driving gear of the driving gear set is matched with the driven gear arranged on the driven gear set to form a gear pair so as to realize flexible steering.
One end face of the driving gear is connected with the flange plate, and the other end face of the driving gear is provided with a nut groove.
The flange plate penetrates through the motor mounting frame to be connected with an output shaft of the motor.
The motor mounting frame is provided with a mounting hole connected with the motor, the inside of the motor mounting frame is attached to a cylindrical shell of the motor when the motor mounting frame is connected with the motor, and the overhanging parts on two sides of the motor mounting frame are provided with mounting holes for connecting a driving gear set with a bottom plate.
The driving wheel group comprises wheels, a driving wheel damper seat, a damper, a No.1 connecting plate, a synchronous pulley, a driving wheel connecting plate seat, a motor, a No. 2 connecting plate, a driving wheel axle, a clamp spring, a synchronous belt, a bushing and the like.
The driving wheel connecting plate seat is used for connecting a No. 1 connecting plate, a No. 2 connecting plate and a bottom plate, and the driving wheel shock absorber seat is used for connecting a shock absorber and the bottom plate.
The upper mounting hole of the No.1 connecting plate is used for connecting a driving wheel connecting plate seat, the middle mounting hole is used for connecting a lower hole of a shock absorber, the lower mounting hole is connected with a flange bearing, the upper mounting hole of the No.2 connecting plate is used for connecting the driving wheel connecting plate seat, the middle upper mounting hole is used for connecting a motor, the middle lower mounting hole is used for connecting a lower hole of the shock absorber, the lower mounting hole is connected with the flange bearing, the flange bearings connected with the No.1 connecting plate and the No.2 connecting plate are connected with a driving wheel shaft, and the two flange bearings are used for mounting a bushing and a synchronous pulley at a certain distance.
The motor output shaft passes through the No.2 connecting plate and is matched with the synchronous pulley hole, and the motor and the synchronous pulley are fixed together through screws on the synchronous pulley.
The synchronous pulleys are respectively arranged on the two flange bearings, the two groups of synchronous pulleys are respectively arranged on the two flange bearings, one group of synchronous pulleys is used for connecting an output shaft of a motor, the two groups of synchronous pulleys are fixed together through screws on the synchronous pulleys, the other group of synchronous pulleys are arranged on a driving wheel shaft and are positioned between the two flange bearings, the bushing is used for supplementing a gap existing between the two flange bearings after the synchronous pulleys are arranged, and the two groups of synchronous pulleys are matched and driven through synchronous belts.
The driving wheel axle is installed with the wheels through the installation holes on the flange plate, the step shaft used for locating the No. 1 connection plate is arranged at the position where the driving wheel axle is connected with the No. 1 connection plate, and the groove is arranged at the position where the driving wheel axle is connected with the No. 2 connection plate so as to install the clamp spring used for locating the No. 2 connection plate.
Compared with the existing mobile robot, the invention has the advantages that:
according to the invention, the damping devices are respectively arranged at the driving wheel and the driven wheel, so that the running stability and reliability of the mobile robot are improved.
The invention adopts the gear steering structure to steer, reduces the requirement on space when the robot runs, and ensures that the mobile robot steers more flexibly.
The invention adopts a modularized design, and the modules are mutually independent, so that the invention is convenient to disassemble and is beneficial to the installation of the mobile robot.
In addition to the features and advantages described above, other objects, features, etc. of the present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a layout view of a flexible steering robotic shock absorbing chassis of the present invention;
FIG. 2 is a three-dimensional view of a flexible steering robotic shock absorbing chassis of the present invention;
FIG. 3 is a three-dimensional view of a drive wheel set of a flexible steering robotic shock absorbing chassis of the present invention;
FIG. 4 is an exploded view of a driven wheelset of a flexible steering robotic shock chassis of the present invention;
fig. 5 is an exploded view of a drive gear set of a flexible steering robotic shock absorbing chassis of the present invention.
Wherein:
1. the driving wheel set 1a, the wheel 1b, the driving wheel damper base 1c, the damper 1d, the No.1 connecting plate 1e, the synchronous pulley 1f, the driving wheel connecting plate base 1h, the No. 2 connecting plate 1i, the driving wheel shaft 1j, the jump ring 1k, the synchronous belt 1m and the bushing
2. Driven wheel group 2a, driven wheel connecting plate seat 2b, driven wheel shock absorber seat 2c, turntable bearing 2d, driven wheel connecting plate driven wheel axle 2f, flange bearing 2g, driven gear mounting plate
3. The bottom plate 4, the I-shaped frame 5, the driven gear 6, the driving gear set 6a, the driving gear 6b, the flange plate 6c, the motor mounting frame 7 and the top plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-2, the damping chassis for the robot capable of flexibly steering comprises a driving wheel set 1, a driven wheel set2, a bottom plate 3, an i-shaped frame 4, a driven gear 5, a driving gear set 6 and a top plate 7. The driving wheel sets 1 are divided into two groups and symmetrically arranged on two sides of the rear part of the bottom plate 3. The top plate 7 is connected with the bottom plate 3 through four groups of I-shaped frames 4 symmetrically arranged at the front part of the bottom plate 3. The two driven wheel sets 2 are symmetrically arranged on two sides of the front part of the bottom plate 3, the upper parts of the two driven wheel sets are arranged on the top plate 7, and the driving gear set 6 is arranged on the front part of the bottom plate 3.
Further, the whole bottom plate 3 is rectangular, rectangular holes with bilateral symmetry are arranged at the rear part of the bottom plate 3 and used for installing the driving wheel set 1, openings with bilateral symmetry are arranged at the front part and used for installing the driven wheel set 2, and circular holes are arranged at the front part and used for installing a motor. It should be noted that the rectangular holes provided in the rear of the bottom plate 3 and the openings provided in the front should meet the movement requirements of the wheelset.
Further, the i-shaped frame 4 is in an i-shape, and reinforcing ribs are designed at the right-angle connection parts of the i-shaped frame 4 to strengthen the i-shaped frame 4.
As shown in fig. 3, the driving wheel group 1 includes a wheel 1a, a driving wheel damper base 1b, a damper 1c, a No. 1 connecting plate 1d, a timing pulley 1e, a driving wheel connecting plate base 1f, a motor, a No. 2 connecting plate 1h, a driving wheel axle 1i, a clip spring 1j, a timing belt 1k, and a bushing 1m. The driving wheel connecting plate seat 1f is used for connecting a No. 1 connecting plate 1d, a No. 2 connecting plate 1h and a bottom plate 3. The driving wheel damper base 1b is used for connecting the damper 1c and the bottom plate 3. The upper mounting hole of the No. 1 connecting plate 1d is used for connecting a driving wheel connecting plate seat 1f, the middle mounting hole is used for connecting the lower hole of the shock absorber 1c, and the lower mounting hole is connected with a flange bearing 2 f. The upper mounting hole of the No. 2 connecting plate 1h is used for connecting a driving wheel connecting plate seat 1f, the middle part is deviated from the upper mounting hole and is used for connecting a motor, the middle part is deviated from the lower mounting hole and is used for connecting the lower hole of the shock absorber 1c, and the lower mounting hole is connected with a flange bearing 2 f. The flange bearings 2f connected with the No. 1 connecting plate 1d and the No. 2 connecting plate 1h are connected with the driving wheel axle 1i, and the two flange bearings 2f are used for installing the bushing 1m and the synchronous pulley 1e at a certain distance.
Preferably, when the No. 1 connecting plate 1d and the No. 2 connecting plate 1h are installed on the driving wheel connecting plate seat 1f, a thrust ball bearing can be installed between the contact surfaces of the connecting plates and the driving wheel connecting plate seat 1f so as to reduce friction between the end surfaces of the connecting plates and the driving wheel connecting plate seat 1f, so that the rotation of the formed revolute pair is smoother.
The motor output shaft passes through the No. 2 connecting plate 1h and is matched with the hole of the synchronous pulley 1e, and the motor and the synchronous pulley 1e are fixed together through screws on the synchronous pulley 1 e. The synchronous pulley 1e is provided with two groups, one group is used for connecting an output shaft of a motor, the two groups are fixed together through screws on the synchronous pulley 1e, and the other group is arranged on a driving wheel shaft 1i and positioned between two flange bearings 2 f. The bushing 1m is used for supplementing a gap existing between the two flange bearings 2f after the synchronous pulley 1e is mounted. The two groups of synchronous pulleys 1e are in matched transmission through a synchronous belt 1 k. The driving wheel axle 1i is installed with the wheel 1a through a mounting hole on a flange plate, a stepped shaft is arranged at the position, connected with the No. 1 connecting plate 1d, of the driving wheel axle 1i for positioning the No. 1 connecting plate 1d, and a groove is arranged at the position, connected with the No. 2 connecting plate 1h, of the driving wheel axle 1i for mounting a clamp spring 1j for positioning the No. 2 connecting plate 1h.
As shown in fig. 4, the driven wheel group 2 includes a turntable bearing 2c, a driven wheel connection plate seat 2a, a driven wheel damper seat 2b, a driven wheel connection plate 2d, a driven wheel axle 2e, a flange bearing 2f, a driven gear mounting plate 2g, wheels 1a, a damper 1c, a bushing 1m, a clip spring 1j, and the like. Two groups of driven wheel connecting plate seats 2a, two groups of driven wheel damper seats 2b and driven gear mounting plates 2g are arranged at the lower part of the outer ring of the turntable bearing 2 c.
The inner ring mounting hole of the turntable bearing 2c is used for mounting the driven wheel group 2 on the top plate 7.
Preferably, when the inner ring of the turntable bearing 2c is mounted on the top plate 7, a bushing 1m is added between the mounting hole and the top plate 7 to enable a certain gap to exist between the turntable bearing 2c and the top plate 7, so that other bolts and nuts on the driven wheel set 2 are prevented from interfering with the top plate 7.
The driven gear mounting plate 2g has two sets of mounting holes, one set of mounting holes in the interior is used for mounting the driven gear mounting plate 2g on the lower part of the turntable bearing 2c, and the other set of mounting holes is used for connecting the driven gear 5. The lower part of the driven wheel connecting plate seat 2a is connected with the upper mounting hole of the driven wheel connecting plate 2d to form a revolute pair.
Preferably, when the driven wheel connecting plate 2d is mounted on the driven wheel connecting plate seat 2a, a thrust ball bearing can be mounted between the contact surface of the driven wheel connecting plate 2d and the driving wheel connecting plate seat 1f so as to reduce friction between the end surfaces of the driven wheel connecting plate 2d and the driving wheel connecting plate seat 1f, and the rotation of the formed revolute pair is smoother.
The lower part of the driven wheel damper base 2b is connected with the upper mounting hole of the damper 1c to form a revolute pair. The driven wheel connecting plates 2d are two groups, are distributed on two sides of the wheel 1a, and are respectively connected with lower mounting holes of the two groups of shock absorbers 1c to form a revolute pair, and the lower mounting holes are respectively connected with the two groups of flange bearings 2 f.
As shown in fig. 5, the drive gear set 6 includes a drive gear 6a, a flange 6b, a motor mount 6c, and a motor. The driving gear 6a is matched with the driven gear 5 arranged on the driven wheel group 2 to form a gear pair so as to realize flexible steering. One end face of the driving gear 6a is connected with the flange plate 6b, and the other end face is provided with a nut groove. The flange plate 6b passes through the motor mounting frame 6c and is connected with the output shaft of the motor. The motor mounting frame 6c is provided with a mounting hole connected with the motor, the inside of the motor mounting frame is attached to a cylindrical shell of the motor when the motor mounting frame is connected with the motor, and the overhanging parts on two sides of the motor mounting frame 6c are provided with mounting holes for connecting the driving gear set 6 with the bottom plate 3.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that many modifications and substitutions of the present invention will be apparent to those skilled in the art, and any improvements, modifications, etc. that fall within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910836391.3A CN110481306B (en) | 2019-09-05 | 2019-09-05 | A shock-absorbing chassis for a robot with flexible steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910836391.3A CN110481306B (en) | 2019-09-05 | 2019-09-05 | A shock-absorbing chassis for a robot with flexible steering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481306A CN110481306A (en) | 2019-11-22 |
| CN110481306B true CN110481306B (en) | 2024-12-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910836391.3A Active CN110481306B (en) | 2019-09-05 | 2019-09-05 | A shock-absorbing chassis for a robot with flexible steering |
Country Status (1)
| Country | Link |
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| CN (1) | CN110481306B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204525438U (en) * | 2015-03-05 | 2015-08-05 | 厦门大学 | A kind of band hitch educational robot mobile platform |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN210478384U (en) * | 2019-09-05 | 2020-05-08 | 山东理工大学 | A Flexible Steering Robotic Shock-absorbing Chassis |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5332446B2 (en) * | 2008-09-25 | 2013-11-06 | 日産自動車株式会社 | Suspension with steering device |
| JP2013103665A (en) * | 2011-11-16 | 2013-05-30 | Nissan Motor Co Ltd | Steering device of in-wheel motor drive wheel |
| CN105667587B (en) * | 2016-01-07 | 2017-12-01 | 西南交通大学 | A kind of walking steering mechanism of electric car |
| CN106043417A (en) * | 2016-06-22 | 2016-10-26 | 先驱智能机械（深圳）有限公司 | Steering device for vehicle and vehicle |
| CN108622190A (en) * | 2018-02-26 | 2018-10-09 | 北京克路德人工智能科技有限公司 | A kind of security robot front-wheel steer chassis |
| CN110126910A (en) * | 2019-06-28 | 2019-08-16 | 康趣智能家居江苏有限公司 | A kind of steering system and the electric vehicle with this steering system |
| KR102497747B1 (en) * | 2022-09-23 | 2023-02-08 | (주)로보아이 | Robot driving device |
-
2019
- 2019-09-05 CN CN201910836391.3A patent/CN110481306B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204525438U (en) * | 2015-03-05 | 2015-08-05 | 厦门大学 | A kind of band hitch educational robot mobile platform |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN210478384U (en) * | 2019-09-05 | 2020-05-08 | 山东理工大学 | A Flexible Steering Robotic Shock-absorbing Chassis |
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| Publication number | Publication date |
|---|---|
| CN110481306A (en) | 2019-11-22 |
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