CN107323524A - A kind of mobile chassis and moving method of place crusing robot - Google Patents
A kind of mobile chassis and moving method of place crusing robot Download PDFInfo
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- CN107323524A CN107323524A CN201710595973.8A CN201710595973A CN107323524A CN 107323524 A CN107323524 A CN 107323524A CN 201710595973 A CN201710595973 A CN 201710595973A CN 107323524 A CN107323524 A CN 107323524A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile chassis of place crusing robot, including tray unit, the both sides of the tray unit are provided with wheel, the wheel is connected with driver element and deflection unit, the deflection unit includes the first sub- deflection unit and the second sub- deflection unit, and the first sub- deflection unit is used for the deflection for controlling the wheel in the left side of the tray unit；The second sub- deflection unit is used for the deflection for controlling the wheel on the right side of the tray unit, and there is first state after wheel deflection, and the first state is：The direct of travel and same circle of each wheel are tangent.Above-mentioned mobile chassis, when needing pivot turn, can realize pivot turn, so that the mobile chassis radius of turn for solving robot is big, and narrow regions can not inspection the problem of move.The invention also discloses a kind of moving method of place crusing robot in addition.
Description
Technical field
The present invention relates to mobile chassis and the movement side of robotic technology field, more particularly to a kind of place crusing robot
Method.
Background technology
With the development of robot technology, application of the robot in people live is more and more universal.Robot will be various
Functional module configuration forms mobile chassis on chassis system, by between mobile chassis driving robot completion diverse location
It is mobile.
Patent for mobile underpan has a lot, as CN105835988A proposes a kind of robot movement bottom
Disk, the Universal wheel structures that there is unique seesaw type by two groups, with two groups of drive wheel groups into wheel chassis so that robot
There can be preferably stability；Such as a kind of mobile underpan of CN105773569A propositions, set four groups of omni-directional wheels simultaneously equal in 90 °
It is even to be installed on chassis, the independent suspension of parallelogram is formed, has and preferably stablizes and shock resistance.
But existing mobile underpan still suffers from following shortcoming during turning：When being turned using differential speed type,
There is larger static friction in wheel, body oscillating is larger during turning, has a strong impact on the use of car body and tire with ground
Life-span；It is due to body dimensions although wheel is rolling friction with ground when turning curved bend by the way of front-wheel deflection
The reason for dolly can be caused to have larger radius of turn, narrow space region robot inspection movement be inconvenient.
In summary, the mobile chassis radius of turn for how solving robot is big, narrow regions can not inspection movement ask
Topic, it has also become those skilled in the art's technical barrier urgently to be resolved hurrily.
The content of the invention
It is an object of the invention to provide a kind of mobile chassis and moving method of place crusing robot, to solve robot
Mobile chassis radius of turn it is big, narrow regions can not inspection the problem of move.
To achieve these goals, the invention provides a kind of mobile chassis of place crusing robot, including chassis is single
Member, the both sides of the tray unit are provided with wheel, and the wheel is connected with driver element and deflection unit, the deflection list
Member includes the first sub- deflection unit and the second sub- deflection unit, and the first sub- deflection unit is used to control the tray unit
The deflection of the wheel in left side；The second sub- deflection unit is used for the wheel for controlling the right side of the tray unit
Deflection；And there is first state after wheel deflection, the first state is：The direct of travel of each wheel with it is same
One circle is tangent.
Preferably, suspension unit is additionally provided with the tray unit, the wheel is arranged on the suspension unit, and
The suspension unit positioned at the front side of the tray unit is forward mounting, and the described of rear side positioned at the tray unit is hanged
Sheet member is rear-mounted；
The first sub- deflection unit includes the first motor, the first translation plates and be arranged in first translation plates the
One deflection connecting rod, first motor is used to drive first translation plates to transport to the left side alternating translational of the tray unit
Dynamic, first translation plates are used to drive the wheel deflection on the left of the first deflection connecting rod driving；
The second sub- deflection unit includes the second motor, the second translation plates and be arranged in second translation plates the
Two deflection connecting rods, second motor is used to drive second translation plates to transport to the right side alternating translational of the tray unit
Dynamic, second translation plates are used to drive the wheel deflection on the right side of the second deflection connecting rod driving；
And the first deflection connecting rod and the second deflection connecting rod are respectively positioned on the forward mounting and the rear-mounted
Between.
Preferably, the driver element includes the first sub- driver element and the second sub- driver element, the first son driving
Unit is used for the vehicle wheel rotation for driving the left side of the tray unit, and the second sub- driver element is used to drive the bottom
The vehicle wheel rotation on the right side of disk unit.
Preferably, the wheel in the left side of the tray unit includes left adhesion wheel and left by motor car wheel, and described the
One sub- driver element is used to drive the left adhesion wheel；The wheel on the right side of the tray unit includes right adhesion wheel
With right by motor car wheel, the second sub- driver element is used to drive the right adhesion wheel.
Preferably, the left adhesion wheel and it is described it is left connected between motor car wheel by the first transmission mechanism, it is and described
Left adhesion wheel is identical with the left slewing rate by motor car wheel；The right adhesion wheel and it is described it is right by between motor car wheel lead to
The connection of the second transmission mechanism is crossed, and the right adhesion wheel is identical with the right slewing rate by motor car wheel.
Preferably, the corresponding suspension unit of each wheel is separate suspension unit.
Content is introduced compared to background technology, the mobile chassis of above-mentioned place crusing robot, by above-mentioned deflection unit,
When needing pivot turn, the wheel on the left of the first sub- deflection unit control deflects corresponding angle, the second sub- deflection unit control
There is first state in the wheel on the right side of system, the first state is after deflecting corresponding angle, and deflection：The traveling of each wheel
Direction and same circle are tangent, and then can realize pivot turn, so that the mobile chassis radius of turn for solving robot is big,
Narrow regions can not inspection the problem of move.
In addition the invention provides a kind of moving method of place crusing robot, the place crusing robot is employed
Mobile chassis as described in above-mentioned either a program, specific moving method includes：
When needing pivot turn, control wheel deflection, and make the direct of travel of each wheel with it is same
Circle is tangent.
Present invention also offers a kind of moving method of place crusing robot, the place crusing robot employ as
Mobile chassis described in any of the above-described scheme, specific moving method includes：
When needing to turn curved bend, control wheel deflection, and each wheel direct of travel respectively with it is corresponding
The curved bend it is tangent.
Present invention also offers a kind of moving method of place crusing robot, the place crusing robot employ as
Mobile chassis described in any of the above-described scheme, specific moving method includes：
When needing straight trip, the direct of travel of the wheel of homonymy is controlled on the same line, and not homonymy is described
The direct of travel of wheel is parallel.
Because there is the mobile chassis of the above-mentioned place crusing robot as described by above-mentioned either a program above-mentioned technology to imitate
Really, therefore employ the method for mobile chassis of place crusing robot of above-mentioned second sets of plan and should also have corresponding technology
Effect, will not be repeated here.
Brief description of the drawings
Fig. 1 is the structural representation of the mobile chassis of place crusing robot provided in an embodiment of the present invention；
Fig. 2 turns structural representation during curved bend for the mobile chassis of place crusing robot provided in an embodiment of the present invention
Figure；
Structural representation when Fig. 3 is the mobile chassis pivot turn of place crusing robot provided in an embodiment of the present invention
Figure.
In figure 1 above -3,
Tray unit 1, wheel 2, the first sub- driver element 3, the second sub- driver element 4, the first sub- deflection unit 5, second
Sub- deflection unit 6, suspension unit 7, the first motor 8, the first translation plates 9, first deflection connecting rod 10, the second motor 11, second
The deflection of translation plates 12, second connecting plate 13, alignment sensor 14.
Embodiment
The core of the present invention is to provide a kind of mobile chassis and moving method of place crusing robot, to solve robot
Mobile chassis radius of turn it is big, narrow regions can not inspection the problem of move.
In order that those skilled in the art more fully understands the technical scheme that provides of the present invention, below in conjunction with accompanying drawing and
The present invention is described in further detail for specific embodiment.
As shown in Figure 1-Figure 3, a kind of mobile chassis of place crusing robot provided in an embodiment of the present invention, including chassis
Unit 1, the both sides of tray unit 1 are provided with wheel 2, and wheel 2 is connected with driver element and deflection unit, and deflection unit includes
The first sub- deflection unit 6 of sub- deflection unit 5 and second, the first sub- deflection unit 5 is used for the wheel for controlling the left side of tray unit 1
2 deflection；Second sub- deflection unit 6 is used for the deflection for controlling the wheel 2 on the right side of tray unit 1；And deposited after the deflection of wheel 2
In first state, the first state is：The direct of travel and same circle of each wheel 2 are tangent.
Content is introduced compared to background technology, the mobile chassis of above-mentioned place crusing robot, by above-mentioned deflection unit,
When needing pivot turn, the wheel on the left of the first sub- deflection unit control deflects corresponding angle, the second sub- deflection unit control
There is first state in the wheel on the right side of system, the first state is after deflecting corresponding angle, and deflection：The traveling of each wheel
Direction and same circle are tangent, and then can realize pivot turn, so that the mobile chassis radius of turn for solving robot is big,
Narrow regions can not inspection the problem of move.
Of course, it should be understood that the deflection of the wheel of the above-mentioned left and right sides is controlled only by different deflection units respectively
Only it is the preferable examples or one and only one deflection unit of the embodiment of the present invention, passes through complicated deflection driver
Structure is connected to each wheel respectively, with the control for the deflection angle for realizing each wheel, only passes through the above-mentioned first son
Deflection unit and the second sub- deflection unit control to cause respectively the structure of rotation drive machine more to simplify, and easily realize.
In some specific embodiments, suspension unit 7 is additionally provided with tray unit 1, it is single that wheel 2 is arranged on suspension
In member 7, and it is forward mounting to be located at the suspension unit 7 of the front side of tray unit 1, positioned at the suspension list of the rear side of tray unit 1
Member 7 is rear-mounted；Above-mentioned first sub- deflection unit 5 includes the first motor 8, the first translation plates 9 and is arranged in the first translation plates 9
First deflection connecting rod 10, the first motor 8 be used for drive left side alternating translational movement of first translation plates 9 to tray unit 1,
First translation plates 9 are used to drive the first wheel 2 deflected on the left of the driving of connecting rod 10 to deflect；Second sub- deflection unit 6 includes the
Two motor 11, the second translation plates 12 and the second deflection connecting rod 13 being arranged in the second translation plates 12, the second motor 11 are used for
Right side alternating translational movement of second translation plates 12 to tray unit 1 is driven, the second translation plates 12 are used to drive the second deflection to connect
Wheel 2 on the right side of the driving of extension bar 13 is deflected；And first deflection connecting rod 10 and second deflection connecting rod 13 be respectively positioned on forward mounting and
Between rear-mounted, and then make it that the yawing moment of the wheel 2 of the same side is opposite.If such as the near front wheel is along vertically suitable with ground direction
When hour hands are deflected, then left rear wheel edge vertically deflects corresponding angle counterclockwise with ground direction.
Explanation is needed exist for, above-mentioned is only that the embodiment of the present invention is deflected for the first sub- deflection unit and the second son
The citing of the structure type of unit or those skilled in the art commonly use other can realize the structure of alternating translational,
Each wheel such as be can also be to that there should be a motor, motor drives corresponding deflection connecting rod, deflection connecting rod band motor-car
Wheel deflection, only so needs to arrange more motors.In addition, above-mentioned first motor and the second motor can select straight line
Motor, can so directly drive the first translation plates and the second translation plates do straight reciprocating motion, naturally it is also possible to which selection is conventional
Electric rotating machine, by coordinating the similar drive mechanism such as corresponding ball screw framework to realize straight reciprocating motion.
And above-mentioned first sub- deflection unit and the second sub- deflection unit should also be including for recognizing translation plates, (first is flat
Move the abbreviation of plate and the second translation plates) alignment sensor 14 of ad-hoc location.Translation plates can be expert at by alignment sensor
It is parked in optional position in the range of journey, and then passes through translation plates and corresponding deflection connecting rod (the first deflection connecting rod and second inclined
Turn the abbreviation of connecting rod) drive corresponding wheel deflectable to any angle.
When motor drives translation plates to run to the first predeterminated position, deflection connecting rod drives the traveling side of corresponding wheel
To in the state of being parallel to each other, it is possible to achieve the advance and retrogressing of tray unit；
When motor drives translation plates to run to the second predeterminated position, deflection connecting rod drives the traveling side of corresponding wheel
To being tangential on same circle, it is possible to achieve the original place deflection of tray unit.
When motor drives translation plates to run to the 3rd predeterminated position scope, deflection connecting rod drives corresponding wheel deflection
Corresponding angle, and the near front wheel is identical with off-front wheel deflection angle, left rear wheel is identical with the deflection angle of off hind wheel, it is possible to achieve
The turning of tray unit is advanced, and now corresponds to different deflection angles, and achievable tray unit possesses different turnings half
Footpath.
In some more particular embodiments, above-mentioned driver element includes the first sub- of driver element 3 and second driving
Unit 4, the first sub- driver element 3 is used to drive the wheel 2 in the left side of tray unit 1 to rotate, and the second sub- driver element 4 is used to drive
The wheel 2 on the right side of dynamic tray unit 1 is rotated.Drive chassis single respectively by the first sub- driver element and the second sub- driver element
The rotation of first both sides wheel, and then can realize that the differential of left side wheel and right side wheels is rotated, and then when turning curved bend, root
According to corresponding radius of turn, the first sub- driver element and the second sub- driver element export corresponding differential rotating speed and can avoid wheel
Larger static friction is produced with road surface.Explanation is needed exist for, those skilled in the art will readily appreciate that, turned
During curved bend, above-mentioned differential rotation and differential rotating speed each mean the of different sizes of the rotary speed of both sides wheel, and direct of travel should
For identical direction.
Need exist for illustrating, the quantity of the first sub- driver element and the second sub- driver element can be one respectively,
Can also have multiple respectively, and each first sub- driver element controls the slewing rate of the corresponding wheel in left side respectively；Often
Individual second sub- driver element controls the slewing rate of the corresponding wheel in right side respectively.Only the embodiment of the present invention is preferably adopted
With one and only one first sub- driver element and one and only one second sub- driver element, drive mechanism can be so reduced
Quantity.It is further to note that those skilled in the art will readily appreciate that, the first sub- driver element and second
Sub- driver element should be also associated with controller, control driver element to export corresponding driving force by controller, and then can
Realize that the first sub- driver element and the second sub- driver element export corresponding differential rotating speed.
In some more particular embodiments, the wheel 2 in the left side of tray unit 1 includes left adhesion wheel and a left side is passive
Wheel, the first sub- driver element 5 is used to drive left adhesion wheel；The wheel 2 on the right side of tray unit 1 include right adhesion wheel and
It is right by motor car wheel, the second sub- driver element 6 be used for drive right adhesion wheel.Of course, it should be understood that the wheel of tray unit 1
The mode that there is driving wheel and follower is only the preferable examples of the embodiment of the present invention or all cars of tray unit
Wheel is the mode of driving wheel, when being only driving wheel, and the rapport for the speed between each wheel requires higher,
Measure of precision for driving part and drive disk assembly requires higher.And general first sub- driver element and the second son driving are single
Member is arranged symmetrically on tray unit, so that the component distribution on whole chassis is more uniform, center of gravity closer to and center, make
The stability of equilibrium for obtaining mobile underpan is more preferable.
In addition above-mentioned left adhesion wheel and it is left can be connected between motor car wheel by the first transmission mechanism, and left active car
Wheel is identical with the left slewing rate by motor car wheel；Right adhesion wheel and it is right by between motor car wheel by the second transmission mechanism connect,
And right adhesion wheel is identical with the right slewing rate by motor car wheel.By the way that driving wheel is connected with follower using transmission mechanism,
So that only needing the driving of the i.e. achievable whole wheels of two drive motors, each wheel is respectively provided with power output, easily facilitated
Robot adapts to more complicated landform.It is further to note that above-mentioned first transmission mechanism and the second transmission mechanism can be with
It is toothed belt transmission or chain drive or gear drive etc..
In some more particular embodiments, above-mentioned robot in general, using 4 wheels, and each wheel
It is independent to use a suspension unit so that the mobile chassis of robot, which is advanced, more to be stablized, and is suitable for more complicated landform.
And in general, suspension unit should include suspension arm and shock-proof spring.
In addition the invention provides a kind of moving method of place crusing robot, the place crusing robot is employed
Mobile chassis as described in above-mentioned either a program, specific moving method includes：
When needing pivot turn, control wheel deflection, and make the direct of travel of each wheel with it is same
Circle is tangent.
Present invention also offers a kind of moving method of place crusing robot, the place crusing robot employ as
Mobile chassis described in any of the above-described scheme, specific moving method includes：
When needing to turn curved bend, control wheel deflection, and each wheel direct of travel respectively with it is corresponding
The curved bend it is tangent.
Present invention also offers a kind of moving method of place crusing robot, the place crusing robot employ as
Mobile chassis described in any of the above-described scheme, specific moving method includes：
When needing straight trip, the direct of travel of the wheel of homonymy is controlled on the same line, and not homonymy is described
The direct of travel of wheel is parallel.
Because there is the mobile chassis of the above-mentioned place crusing robot as described by above-mentioned either a program above-mentioned technology to imitate
Really, therefore employ the method for mobile chassis of place crusing robot of above-mentioned second sets of plan and should also have corresponding technology
Effect, will not be repeated here.
Need exist for explanation, the moving method for the place crusing robot that the present invention is provided, in actual application
In can have the function of above-mentioned pivot turn concurrently, turn the function of curved bend and the function of straight trip；Can also only include above-mentioned original
The function of ground turning, any 2 functions of turning in the function of curved bend and the function of straight trip.
The mobile chassis and moving method of place crusing robot provided by the present invention are described in detail above.
It should be noted that each embodiment in this specification is described by the way of progressive, what each embodiment was stressed
All be between the difference with other embodiment, each embodiment identical similar part mutually referring to.
It should also be noted that, herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
There is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid nonexcludability is included, so that article or equipment including a series of key elements not only include those key elements, but also
Including other key elements being not expressly set out, or also include for this article or the intrinsic key element of equipment.Do not having
In the case of more limitations, the key element limited by sentence "including a ...", it is not excluded that including the article of above-mentioned key element
Or also there is other identical element in equipment.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
The bright method and its core concept for being only intended to help to understand the present invention.It should be pointed out that for the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improvement
Also fallen into modification in the protection domain of the claims in the present invention.
Claims (9)
1. a kind of mobile chassis of place crusing robot, including tray unit (1), the both sides of the tray unit (1) are all provided with
Wheel (2) is equipped with, the wheel (2) is connected with driver element and deflection unit, it is characterised in that the deflection unit includes the
One sub- deflection unit (5) and the second sub- deflection unit (6), the first sub- deflection unit (5) are used to control the tray unit
(1) deflection of the wheel (2) in left side；The second sub- deflection unit (6) is used for the right side for controlling the tray unit (1)
The deflection of the wheel (2) of side；And there is first state after the wheel (2) deflection, the first state is：Each institute
The direct of travel and same circle for stating wheel (2) are tangent.
2. the mobile chassis of place crusing robot as claimed in claim 1, it is characterised in that on the tray unit (1)
Suspension unit (7) is additionally provided with, the wheel (2) is arranged on the suspension unit (7), and positioned at the tray unit (1)
Front side the suspension unit (7) be forward mounting, positioned at the suspension unit (7) of the rear side of the tray unit (1)
For rear-mounted；
The first sub- deflection unit (5) includes the first motor (8), the first translation plates (9) and is arranged on first translation plates
(9) the first deflection connecting rod (10) on, first motor (8) is used to drive first translation plates (9) to the chassis
The left side alternating translational movement of unit (1), first translation plates (9) are used to drive the first deflection connecting rod (10) driving
The wheel (2) deflection in left side；
The second sub- deflection unit (6) includes the second motor (11), the second translation plates (12) and is arranged on second translation
The second deflection connecting rod (13) on plate (12), second motor (11) is used to drive second translation plates (12) to described
The right side alternating translational movement of tray unit (1), second translation plates (12) are used to drive the second deflection connecting rod
(13) wheel (2) deflection on the right side of driving；
And after the first deflection connecting rod (10) and the second deflection connecting rod (13) are respectively positioned on the forward mounting and are described
Between suspension.
3. the mobile chassis of place crusing robot as claimed in claim 2, it is characterised in that the driver element includes the
One sub- driver element (3) and the second sub- driver element (4), the first sub- driver element (3) are used to drive the tray unit
(1) wheel (2) in left side is rotated, and the second sub- driver element (4) is used for the right side for driving the tray unit (1)
The wheel (2) rotate.
4. the mobile chassis of place crusing robot as claimed in claim 3, it is characterised in that the tray unit (1)
The wheel (2) in left side includes left adhesion wheel and left by motor car wheel, and the first sub- driver element (5) is described for driving
Left adhesion wheel；The wheel (2) on the right side of the tray unit (1) includes right adhesion wheel and right by motor car wheel, described
Second sub- driver element (6) is used to drive the right adhesion wheel.
5. the mobile chassis of place crusing robot as claimed in claim 4, it is characterised in that the left adhesion wheel and institute
State it is left connected between motor car wheel by the first transmission mechanism, and the left adhesion wheel and the left rotation speed by motor car wheel
Rate is identical；The right adhesion wheel and it is described it is right connected between motor car wheel by the second transmission mechanism, and the right active car
Wheel is identical with the right slewing rate by motor car wheel.
6. the mobile chassis of place crusing robot as claimed in claim 2, it is characterised in that each wheel is corresponding
The suspension unit (7) is separate suspension unit.
7. a kind of moving method of place crusing robot, it is characterised in that the place inspection machine is artificial such as claim
The mobile chassis of place crusing robot described in any one of 1-6, specific moving method includes：
When needing pivot turn, the wheel deflection is controlled, and make the direct of travel and same round phase of each wheel
Cut.
8. a kind of moving method of place crusing robot, it is characterised in that the place inspection machine is artificial such as claim
The mobile chassis of place crusing robot described in any one of 1-6, specific moving method includes：
When needing to turn curved bend, control wheel deflection, and each wheel direct of travel respectively with corresponding institute
State curved bend tangent.
9. a kind of moving method of place crusing robot, it is characterised in that the place inspection machine is artificial such as claim
The mobile chassis of place crusing robot described in any one of 1-6, specific moving method includes：
When needing straight trip, the direct of travel of the wheel of homonymy is controlled on the same line, and the not wheel of homonymy
Direct of travel it is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710595973.8A CN107323524A (en) | 2017-07-20 | 2017-07-20 | A kind of mobile chassis and moving method of place crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710595973.8A CN107323524A (en) | 2017-07-20 | 2017-07-20 | A kind of mobile chassis and moving method of place crusing robot |
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| CN107323524A true CN107323524A (en) | 2017-11-07 |
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| CN201710595973.8A Pending CN107323524A (en) | 2017-07-20 | 2017-07-20 | A kind of mobile chassis and moving method of place crusing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066422A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of substation inspection system |
| CN109178146A (en) * | 2018-09-19 | 2019-01-11 | 国网江苏省电力有限公司苏州供电分公司 | Self-service mobile chassis and the indoor crusing robot in power distribution station/room for applying it |
| CN110001775A (en) * | 2019-04-19 | 2019-07-12 | 广州国机智能电力科技有限公司 | A kind of full landform mobile chassis and trolley |
| CN110884565A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Suspension steering mechanism based on four-wheel drive platform truck |
| CN114802436A (en) * | 2022-05-19 | 2022-07-29 | 浙江小远机器人有限公司 | Multifunctional four-wheel independent robot chassis and using method thereof |
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