CN111923677B - Adjustable suspension chassis and robotics - Google Patents
Adjustable suspension chassis and robotics Download PDFInfo
- Publication number
- CN111923677B CN111923677B CN202010891453.3A CN202010891453A CN111923677B CN 111923677 B CN111923677 B CN 111923677B CN 202010891453 A CN202010891453 A CN 202010891453A CN 111923677 B CN111923677 B CN 111923677B
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- Prior art keywords
- driving wheel
- adjustable suspension
- chassis
- sleeve
- damping
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- 239000000725 suspension Substances 0.000 title claims abstract description 37
- 238000013016 damping Methods 0.000 claims abstract description 48
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/22—Braking, stopping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明提供了一种可调节的悬架底盘及机器人，包括：基部、驱动轮组和第一万向轮组，所述驱动轮组和所述第一万向轮组均设置于所述基部，所述驱动轮组包括两个相对设置的驱动轮组件，所述第一万向轮组包括两个相对设置的第一万向轮组件，所述驱动轮组件包括摆动件、第一固定部以及驱动轮，所述第一固定部固定于所述基部，所述第一固定部设置铰接位置，所述摆动件可拆卸地铰接于所述铰接位置，所述摆动件与所述第一固定部的所述铰接位置设置阻尼调节器。根据本发明提供的悬架底盘及机器人，使底盘在不同的使用环境下能有一个性能优越的悬架，因而整体提升了底盘的运动平稳性。
The present invention provides an adjustable suspension chassis and robot, comprising: a base, a driving wheel group and a first universal wheel group, the driving wheel group and the first universal wheel group are both arranged on the base, the driving wheel group includes two driving wheel assemblies arranged oppositely, the first universal wheel group includes two first universal wheel assemblies arranged oppositely, the driving wheel assembly includes a swinging member, a first fixing portion and a driving wheel, the first fixing portion is fixed to the base, the first fixing portion is provided with an articulated position, the swinging member is detachably articulated at the articulated position, and a damping adjuster is provided at the articulated position between the swinging member and the first fixing portion. According to the suspension chassis and robot provided by the present invention, the chassis can have a suspension with superior performance in different use environments, thereby improving the overall movement stability of the chassis.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an adjustable suspension chassis and a robot.
Background
Mobile robots have been increasingly used in mass service scenarios such as restaurant, hotel, office building indoor scenarios. In an actual environment, in the moving process of the robot, the robot may encounter situations such as obstacles, climbing slopes, and scram. In the prior art, when the robot encounters the problems, sharp shake can occur, and the moving stability of the robot is seriously affected.
Disclosure of Invention
The present invention has been made in view of the above-mentioned conventional situation, and an object of the present invention is to provide an adjustable suspension chassis and a robot, which can significantly improve the stability of the robot during the movement process.
In order to achieve the above object, the present invention provides the following technical solutions:
the present invention provides an adjustable suspension chassis comprising:
The base, drive wheelset and first universal wheelset, drive wheelset with first universal wheelset all set up in the base, drive wheelset includes two drive wheel assemblies that set up relatively, first universal wheelset includes two first universal wheel assemblies that set up relatively, drive wheel assembly includes swinging member, first fixed part and drive wheel, first fixed part is fixed in the base, first fixed part sets up articulated position, swinging member detachably articulate in articulated position, swinging member with articulated position of first fixed part sets up damping regulator, damping regulator is used for adjusting swinging resistance of swinging member, drive wheel with first universal wheel assembly all with swinging member is connected, and articulated position set up in between the drive wheel with the first universal wheel assembly.
Under the condition, the driving wheel and the first universal wheel assembly are connected with the swinging piece, so that the driving wheel and the first universal wheel can be linked, the damping of the swinging piece at the hinged position can be adjusted by the damping adjuster, namely, when the motion state of the driving wheel is changed, the response frequency of the first universal wheel to the change of the driving wheel can be adjusted by the damping adjuster, and the chassis can be provided with a suspension with excellent performance under different use environments by changing the response frequency of the chassis to the complex environment, so that the motion stability of the chassis is integrally improved.
Wherein the hinge positions include a plurality of the swinging members being hingeable to any one of the hinge positions.
Therefore, the ground force of the driving wheel can be adjusted by changing the hinging position, corresponding reasonable ground force can be adjusted according to different use environments, and the head-up nodding phenomenon of the robot can be remarkably improved by combining the damping regulator.
Wherein the plurality of hinge positions are integrally disposed parallel to the base.
Thus, calculation and adjustment of the ground force of the drive wheel is simplified.
The driving wheel is provided with a connecting section extending out of the driving wheel, the driving wheel can rotate relative to the connecting section, and the connecting section is fixed on the swinging piece.
In this case, the driving structure is simplified, and the installation and maintenance are facilitated.
The driving wheel set is arranged between the second universal wheel set and the first universal wheel set.
The damping adjuster comprises a pressure spring, a wear-resistant sleeve and a damping adjusting shaft sleeve, the swinging member comprises a rotating shaft, the hinge position comprises a mounting through hole, the rotating shaft rotatably penetrates through the mounting through hole, the wear-resistant sleeve is sleeved on the rotating shaft and is attached to the swinging member, the damping adjusting shaft sleeve is arranged in the mounting through hole, the damping adjusting shaft sleeve is not rotatable relative to the mounting through hole, the damping adjusting shaft sleeve is propped against the wear-resistant sleeve, and the pressure spring is propped against the damping adjusting shaft sleeve.
Under the condition, the pressure of the damping adjusting shaft sleeve to the wear-resistant sleeve can be changed by adjusting the pretightening force of the pressure spring, so that the friction force between the wear-resistant sleeve and the damping adjusting shaft sleeve is changed, the damping of the linkage suspension can be adjusted to meet the requirement of complex application environment, and the pressure spring has elastic deformation capability, so that the direct friction force between the wear-resistant sleeve and the damping adjusting shaft sleeve can be dynamically flexibly adjusted to a certain extent, the clamping of the swinging piece during swinging is avoided, and the smoothness of a suspension system is improved.
The wear-resistant sleeve, the damping adjusting shaft sleeve and the pressure spring are sequentially sleeved on the rotating shaft.
Therefore, the three parts are arranged on the rotating shaft, so that the pressure output stability of the pressure spring to the wear-resistant sleeve is improved, and the installation is convenient.
The swinging piece comprises a counter bore, the wear-resistant sleeve is arranged in the counter bore, the rotating shaft penetrates through the counter bore, the mounting through hole comprises a supporting plane, the side face of the damping adjusting shaft sleeve comprises a mounting plane, and the mounting plane supports against the supporting plane.
Therefore, the wear-resistant sleeve can be firmly attached to the swinging piece by arranging the wear-resistant sleeve in the counter bore.
The end part of the rotating shaft is provided with threads, and the damping adjuster further comprises a nut which is matched with the threads and provides pressure for the pressure spring.
Thus, by the nut being engaged with the screw, the operation of applying the pressing force to the pressing spring can be simplified.
The invention also provides a robot comprising the adjustable suspension chassis and a body, wherein the body is fixed on the chassis.
Under the condition, the driving wheel and the first universal wheel assembly are connected with the swinging piece, so that the driving wheel and the first universal wheel can be linked, and the damping of the hinged position can be adjusted by the damping adjuster, namely, when the motion state of the driving wheel is changed, the response frequency of the first universal wheel to the change of the driving wheel can be adjusted by the damping adjuster, and the response frequency of the robot to a complex environment is changed, so that the robot can have a suspension with excellent performance under different use environments, and the motion stability of the robot is integrally improved.
According to the adjustable suspension chassis and the robot, the driving wheel and the first universal wheel assembly are connected with the swinging piece, so that the driving wheel and the first universal wheel can be linked, the damping of the swinging piece at the hinged position can be adjusted by the damping adjuster, namely, when the motion state of the driving wheel is changed, the response frequency of the first universal wheel to the change of the driving wheel can be adjusted by the damping adjuster, and the suspension with excellent performance can be provided for the chassis under different use environments by changing the response frequency of the chassis to the complex environment, so that the motion stability of the chassis is integrally improved.
Drawings
Fig. 1 shows a schematic perspective view of an adjustable suspension chassis according to an embodiment of the present invention;
fig. 2 shows a schematic exploded view of a part of the structure of an adjustable suspension chassis according to an embodiment of the invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
As shown in fig. 1, the present invention provides an adjustable suspension chassis 1 for carrying a robot body to drive the robot to perform a dispensing task. The adjustable suspension chassis 1 comprises a base 10, a drive wheel set and a first universal wheel set. The driving wheel set and the first universal wheel set are both arranged on the base 10. The drive wheel set comprises two oppositely arranged drive wheel assemblies 20. The first caster group includes two oppositely disposed first caster assemblies 30. The driving wheel assembly 20 includes a swing member 21, a first fixing portion 22, and a driving wheel 23. The first fixing portion 22 is fixed to the base portion 10. The first fixing portion 22 is provided with a hinge position 221. The swinging member 21 is detachably hinged to the hinge position 221. The hinge position 221 of the swinging member 21 and the first fixing portion 22 is provided with a damper adjuster 90. The damper regulator 90 is used to regulate the swing resistance of the swing member 21. The driving wheel 23 and the first universal wheel assembly 30 are both connected to the swinging member 21, and the hinge position 221 is provided between the driving wheel 23 and the first universal wheel assembly 30. Under the condition, the driving wheel and the first universal wheel assembly are connected with the swinging piece, so that the driving wheel and the first universal wheel can be linked, and the damping of the hinged position can be adjusted by the damping adjuster, namely, when the motion state of the driving wheel is changed, the response frequency of the first universal wheel to the change of the driving wheel can be adjusted by the damping adjuster, and the chassis can be provided with a suspension with excellent performance under different use environments by changing the response frequency of the chassis to the complex environment, so that the motion stability of the chassis is integrally improved, and the problem that the linked suspension is easy to "nod" under the emergency stop state is also solved.
In this embodiment, the hinge positions 221 include a plurality of hinge positions. The oscillating member 21 may be hinged at any of the hinge positions 221. Therefore, the ground force of the driving wheel can be adjusted by adjusting the hinging position, corresponding reasonable ground force can be adjusted according to different use environments, and the head-up nodding phenomenon of the robot can be remarkably improved by combining the damping regulator.
In this embodiment, the plurality of hinge positions 221 are disposed in parallel with the base 10 as a whole. Thus, calculation and adjustment of the ground force of the drive wheel is simplified.
In the present embodiment, the damper regulator 90 is provided to extend toward the middle of the base 10.
In some examples, the base 10 may be in the form of a plate. It will be appreciated that the base 10 may be integrally formed. In some examples, the base 10 may be spliced from a plurality of plates. The base 10 is disposed generally parallel to the ground.
In this embodiment, as shown in fig. 2, the damper regulator 90 includes a compression spring 91, a wear sleeve 92, and a damper adjustment sleeve 93. The swinging member 21 includes a rotation shaft 211. The hinge location 221 includes a mounting through hole 222. The rotation shaft 211 rotatably penetrates the installation through hole 222. The wear-resistant sleeve 92 is sleeved on the rotating shaft 211 and is attached to the swinging member 21. The damping adjustment sleeve 93 is disposed in the mounting through hole 222, and the damping adjustment sleeve 93 is non-rotatable with respect to the mounting through hole 222. The damping adjustment sleeve 93 abuts against the wear sleeve 92. The compression spring 91 abuts against the damping adjustment sleeve 93. Under the condition, the pressure of the damping adjusting shaft sleeve to the wear-resistant sleeve can be changed by adjusting the pretightening force of the pressure spring, so that the friction force between the wear-resistant sleeve and the damping adjusting shaft sleeve is changed, the damping of the linkage suspension can be adjusted to meet the requirement of complex application environment, and the pressure spring has elastic deformation capability, so that the direct friction force between the wear-resistant sleeve and the damping adjusting shaft sleeve can be dynamically flexibly adjusted to a certain extent, the clamping of the swinging piece during swinging is avoided, and the smoothness of a suspension system is improved.
In the present embodiment, the wear sleeve 92, the damping adjustment sleeve 93, and the compression spring 91 are sequentially fitted around the rotation shaft 211. Therefore, the three parts are arranged on the rotating shaft, so that the pressure output stability of the pressure spring to the wear-resistant sleeve is improved, and the installation is convenient.
In this embodiment, the oscillating member 21 includes a counterbore 212. The wear sleeve 92 is disposed in the counterbore 212. The rotation shaft 211 penetrates the counterbore 212. The mounting through hole 222 includes a holding plane. The side of the damping adjustment sleeve 93 includes a mounting plane. The mounting plane is propped against the propping plane. Therefore, the wear-resistant sleeve can be firmly attached to the swinging piece by arranging the wear-resistant sleeve in the counter bore.
In this embodiment, the hinge positions 221 include 5. It will be appreciated that the number of mounting holes 222 corresponds to 5.
In the present embodiment, the end of the rotation shaft 211 is provided with a screw. The damper adjuster 90 further includes a nut 94. The nut 94 engages with the screw thread and provides pressure to the compression spring 91. Thus, by the nut being engaged with the screw, the operation of applying the pressing force to the pressing spring can be simplified.
In some examples, the first fixing portion 22 may include a first support wall 223 and a second support wall 224 that are disposed opposite to each other. The rotation shaft 211 may include a first section and a second section, the first section may be disposed between the first support wall 223 and the second support wall 224, and the second section may penetrate the counterbore 212 and the mounting through hole 222. The wear-resistant sleeve 92, the damping adjustment sleeve 93, and the compression spring 91 may be sequentially sleeved on the second section of the rotation shaft 211. Threads may be provided at the end of the second section.
In some examples, the compression spring 91 may be a rectangular compression spring.
In some examples, the oscillating member 21 may be elongated.
In the present embodiment, the driving wheel 23 has a connecting section 231 extending from the driving wheel 23. The drive wheel 23 is rotatable relative to the connection section 231. The connection section 231 is fixed to the swinging member 21. In this case, the driving structure is simplified, and the installation and maintenance are facilitated.
In some examples, the drive wheel 23 may include an in-wheel motor.
In some examples, the connection section 231 may be fixed to one end of the swing member 21.
In some examples, the first gimbal assembly 30 may be disposed at the other end of the swing 21.
In this embodiment, the adjustable suspension chassis 1 further comprises a second universal wheel set 40. The driving wheel set is disposed between the second universal wheel set 40 and the first universal wheel set.
In the present embodiment, the first universal wheel assembly 30 and the driving wheel assembly 20 are disposed at both sides of the base 10.
In this embodiment, the first universal wheel set is disposed behind the drive wheel set in the chassis forward direction. Specifically, during the advancing of the chassis, the drive wheel set encounters an obstacle prior to the first universal wheel set. It will be appreciated that the swinging member 21 is provided extending in the chassis advancing direction.
The embodiment of the invention also relates to a robot (not shown) comprising an adjustable suspension chassis 1 as described above. The detailed description of the adjustable suspension chassis 1 is omitted here. The robot further includes a body. The body is fixed on the chassis. Under the condition, the driving wheel and the first universal wheel assembly are connected with the swinging piece, so that the driving wheel and the first universal wheel can be linked, and the damping of the hinged position can be adjusted by the damping adjuster, namely, when the motion state of the driving wheel is changed, the response frequency of the first universal wheel to the change of the driving wheel can be adjusted by the damping adjuster, and the response frequency of the robot to a complex environment is changed, so that the robot can have a suspension with excellent performance under different use environments, and the motion stability of the robot is integrally improved.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (10)
1. An adjustable chassis of a suspension is provided, characterized by comprising the following steps:
The base, the driving wheel group and the first universal wheel group are both arranged on the base, the driving wheel group comprises two driving wheel assemblies which are oppositely arranged, the first universal wheel group comprises two first universal wheel assemblies which are oppositely arranged, each driving wheel assembly comprises a swinging piece, a first fixing part and a driving wheel, the first fixing part is fixed on the base, the first fixing part is provided with a hinging position, the swinging piece is detachably hinged to the hinging position, the hinging positions of the swinging piece and the first fixing part are provided with damping regulators, the damping regulators are used for regulating swinging resistance of the swinging piece, the driving wheels and the first universal wheel assemblies are connected with the swinging piece, and the hinging positions are arranged between the driving wheels and the first universal wheel assemblies;
The hinge positions comprise a plurality of swinging pieces, and the swinging pieces can be hinged at any hinge position;
the driving wheel is provided with a connecting section extending out of the driving wheel, the driving wheel can rotate relative to the connecting section, and the connecting section is fixed on the swinging piece.
2. The adjustable suspension pan of claim 1 wherein the first securing portion comprises oppositely disposed first and second support walls.
3. The adjustable suspension pan of claim 1 wherein the plurality of hinge locations are disposed generally parallel to the base.
4. The adjustable suspension chassis of claim 1, further comprising a second set of universal wheels, the set of drive wheels being disposed between the second set of universal wheels and the first set of universal wheels.
5. The adjustable suspension pan of claim 1 wherein the damper adjuster includes a compression spring, a wear sleeve and a damper adjustment sleeve, the swing member includes a rotation shaft, the hinge location includes a mounting through hole, the rotation shaft rotatably extends through the mounting through hole, the wear sleeve is sleeved on the rotation shaft and engages the swing member, the damper adjustment sleeve is disposed in the mounting through hole, and the damper adjustment sleeve is non-rotatable relative to the mounting through hole, the damper adjustment sleeve is held against the wear sleeve, and the compression spring is held against the damper adjustment sleeve.
6. The adjustable suspension pan of claim 5 wherein the rotational axis comprises a first section and a second section.
7. The adjustable suspension pan of claim 6 wherein said wear sleeve, said damping adjustment sleeve, said compression spring are sequentially nested in a second section of said rotational axis.
8. The adjustable suspension pan of claim 7 wherein the swinging member includes a counterbore, the wear sleeve is disposed in the counterbore, the rotating shaft extends through the counterbore, the mounting through-hole includes a abutment plane, and the side of the damping adjustment sleeve includes a mounting plane that abuts the abutment plane.
9. The adjustable suspension pan of claim 7 wherein the end of the rotation shaft is threaded, the damper adjuster further comprising a nut that mates with the threads and provides pressure to the compression spring.
10. A robot comprising an adjustable suspension chassis according to any one of claims 1 to 9, and further comprising a body secured to the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891453.3A CN111923677B (en) | 2020-08-30 | 2020-08-30 | Adjustable suspension chassis and robotics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891453.3A CN111923677B (en) | 2020-08-30 | 2020-08-30 | Adjustable suspension chassis and robotics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111923677A CN111923677A (en) | 2020-11-13 |
| CN111923677B true CN111923677B (en) | 2025-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010891453.3A Active CN111923677B (en) | 2020-08-30 | 2020-08-30 | Adjustable suspension chassis and robotics |
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| Country | Link |
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| CN (1) | CN111923677B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112793666B (en) * | 2021-02-08 | 2025-07-15 | 深圳优艾智合机器人科技有限公司 | Chassis for automated guided vehicle and automated guided vehicle |
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|---|---|---|---|---|
| CN207482047U (en) * | 2017-08-28 | 2018-06-12 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN208716475U (en) * | 2018-09-13 | 2019-04-09 | 江苏袋王工贸有限公司 | A kind of discharging frame of woven bag sartorius |
| CN213108905U (en) * | 2020-08-30 | 2021-05-04 | 深圳市普渡科技有限公司 | Adjustable suspension chassis and robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202451589U (en) * | 2011-12-19 | 2012-09-26 | 姜崇德 | Rotating mechanism with damper |
| CN107571697A (en) * | 2017-08-09 | 2018-01-12 | 北京云迹科技有限公司 | Equalizing type of suspension chassis and robot |
| CN108000478B (en) * | 2017-12-13 | 2023-08-08 | 北京极智嘉科技股份有限公司 | Flexible base and handling robot |
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN209176811U (en) * | 2018-12-04 | 2019-07-30 | 上海木木聚枞机器人科技有限公司 | A kind of lever robot suspension frame structure, robot |
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
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2020
- 2020-08-30 CN CN202010891453.3A patent/CN111923677B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207482047U (en) * | 2017-08-28 | 2018-06-12 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN208716475U (en) * | 2018-09-13 | 2019-04-09 | 江苏袋王工贸有限公司 | A kind of discharging frame of woven bag sartorius |
| CN213108905U (en) * | 2020-08-30 | 2021-05-04 | 深圳市普渡科技有限公司 | Adjustable suspension chassis and robot |
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| CN111923677A (en) | 2020-11-13 |
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