CN107902007A - A kind of rocking arm type suspension mechanism of high stationarity travelling box body - Google Patents
A kind of rocking arm type suspension mechanism of high stationarity travelling box body Download PDFInfo
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- CN107902007A CN107902007A CN201711250697.8A CN201711250697A CN107902007A CN 107902007 A CN107902007 A CN 107902007A CN 201711250697 A CN201711250697 A CN 201711250697A CN 107902007 A CN107902007 A CN 107902007A
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- supporting leg
- electric pushrod
- angle bisection
- stent
- fulcrum
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- 239000000725 suspension Substances 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of suspension frame structure of walking machine body, a kind of rocking arm type suspension mechanism of high stationarity travelling box body, support balancing stand is respectively configured positioned at the both sides of travelling box body；It is made of outer rocker arm (11) and the configuration of inner rocker arm (2) interval, a pair of rotatable supporting leg (4) is clamped between two rocking arms, electric pushrod (9) both ends of configuration respectively symmetrically configure angle bisection stent (7), fulcrum is rotatably connected on one end of electric pushrod (9) and the upper end of damper (3) on angle bisection stent (7), angle bisection stent (7) lower fulcrum is fixedly connected with intermeshing a pair of of angle bisection gear (13), and the lower end of damper (3) is rotatably connected on supporting leg (4)." with the change in shape of landing ground; there is rotation symmetrically or non-symmetrically in the lower end of a pair of of supporting leg in the central vertical line both sides of electric pushrod " of the invention, " with stretching for electric pushrod; the upper fulcrum of both sides angle bisection stent has symmetrical all the time mobile in the central vertical line both sides of electric pushrod " so that do not deviate all the time with travelling box body itself, it is ensured that has higher walking stability.
Description
Technical field
It is especially a kind of the present invention relates to a kind of suspension frame structure of support, mounting robot and similar walking machine body
Walk in a kind of suspension frame structure on the ground that is uneven.
Background technology
The present invention is to be proposed when studying a kind of mobile robot with composite moving mechanism according to actual requirement.
This robot has balancing rocker arm suspension and the compound running gear of stride, it has stronger complex environment posture ability of regulation and control
With landform adaptability.Running gear is using balancing rocker arm chassis and the allocation plan of four joint crawler belt swing arms, by closing
The coordination control of section four swing arms of crawler belt makes it have stronger obstacle climbing ability.This mobile robot suspension requirements have certain
Shock-absorbing function, while four swing arms can freely adjust posture.
Found by being retrieved to prior art literature：
Chinese utility model patent number：201520666955.0 title：Deformed caterpillar suspension and the robot shifting with it
Moving platform.The suspension frame structure that the utility model is related to is complicated, by middle hitch, deformed caterpillar unit, deformation drive component etc.
Composition, drives Athey wheel to rotate by the movement of connecting rod, while adjusts the road clearance.But the technical pattern is complex, and
It can not be used on the chassis of balancing rocker arm structure, and without preferable damping effect.
The content of the invention
Present invention aims to overcome that the deficiencies in the prior art, there is provided a kind of achievable damping and the rocking arm for keeping balancing hang
Frame mechanism, realizes the vibration transmitted on decay ground and the function of actively adjusting the road clearance.
The purpose of the present invention is realized by following technical scheme.
A kind of rocking arm type suspension mechanism of high stationarity travelling box body,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction to for Y, it is characterised in that：
Support balancing stand is respectively configured positioned at the both sides of travelling box body；
The support balancing stand is being shaken by being formed with the configuration of the outer rocker arm and inner rocker arm interval of XZ faces parallel planar described in two
It is in the supporting leg of eight shape obliquely that a pair is clamped between arm, and a pair of of supporting leg rotation axis of the upper end through Y-direction of supporting leg, which rotates, to be fixed on
On the inside and outside rocking arm；
Top paralleled by X axis configuration electric pushrod between two rocking arms, Z is respectively symmetrically configured with the both ends of electric pushrod
The angle bisection stent of up and down two fulcrum, the upper fulcrum of angle bisection stent are rotatably connected on one end and the tubular of electric pushrod
The upper end of damper, the lower fulcrum of angle bisection stent are fixedly connected with angle bisection gear, a pair of of the angle bisection gear phase configured side by side
Mutually engagement, by including angle bisection gear shaft rolling assembling, on outer rocker arm；
The lower end of damper is rotatably connected on the middle and upper part position of supporting leg；
With stretching for electric pushrod, the upper fulcrum of the angle bisection stent of both sides two is in the central vertical line both sides of electric pushrod
Have symmetrical all the time mobile；
With the change in shape of landing ground, the lower end of a pair of of supporting leg has symmetrical or not right in the central vertical line both sides of electric pushrod
The rotation of title；
The inner rocker arm rearward stretches out rod-shaped arm along X, and the rod-shaped arm end of left and right two inner rocker arms is respectively articulated with vertically
Vertical connecting rod, the lower end of left and right two vertical connecting rods is hinged and connected by the counter-jib of a Y-direction to be connect, and the middle position of counter-jib is
The hinged fixing point of one travelling box body；
The inner rocker arm central parts of two support balancing stands, can be around through pivoting support by the driving axle housing both ends of Y-direction
Driving axle housing is rotatablely connected；
Two side positions set the fixing point of two travelling box bodies on the driving axle housing.
Using the technical program, including it is support balancing stand that vehicle and the travelling box body of mobile robot, which can be configured in both sides,
Based on rocking arm type suspension in, three points form a stable joint faces.Rocking arm type suspension is in a pair of controllable, change angle
The lower alterable terrain clearance of supporting leg support, to adapt to the road conditions of both sides ground different height.Intermeshing a pair of angle bisection
Displacement all around can not occur all the time with the chain-wales that strict guarantee electric pushrod is formed for gear, can even running, walking.
Damper weakens the vibrations absorbed in supporting leg walking.
Further, the upper fulcrum of the angle bisection stent is split as spaced apart 2 points, any is rotatably connected on
One end of electric pushrod, the other end are rotatably connected on the upper end of tubular damper.
Further, the certain distance is the distance less than or equal to fulcrum on the angle bisection stent to lower fulcrum.
Further, the supporting leg rotation axis and angle bisection gear shaft position be not overlapping, and angle bisection gear shaft is located relatively at Z-direction
Top.
Further, the welded support ear being fixed on supporting leg in the lower end of the damper is rotatably connected in supporting leg
Upper position.
Further, the lower end of the upper end of the supporting leg to damper is rotatably connected on the distance of position on supporting leg and is less than damping
The original length of device.
Further, Athey wheel or rubber tire are configured in the lower end of the supporting leg.
Further, in the center configuration differential casing of the driving axle housing.
Beneficial effects of the present invention：
By literature search, not find be directed to the damping of balancing rocker arm suspension and adjust the road clearance it is relevant research into
Fruit.The present invention is in view of the shortcomings of the prior art and a kind of need of the mobile robot with composite moving mechanism of research
Ask, propose a kind of achievable shock-absorbing function and the balancing rocker arm suspension of attitude regulation function first.
The present invention passes through to the simple control of electric pushrod and the structure design free to slide of electric pushrod horizontal direction
The control of front and rear supporting leg angle can be realized, so as to reach the clearance distance of control suspension bottom from the ground.The control of electric pushrod
System is active, so more convenient can adapt to different load conditions.
The present invention between electric pushrod connector and supporting leg by setting damper and damper and push rod connector and subtracting
The rotation connection design of device stent is shaken, so that the vibrations of suspension are passed on road surface in the traveling process that has the function that to decay.
The present invention between driving axle housing and both sides rocking arm by being respectively provided with pivoting support, so suspension both sides device
Rotated around pivoting support, can so make suspension adapt to more multiple road conditions, can make using this suspension frame structure mobile platform more
Smoothly pass through complex road condition.
" with the change in shape of landing ground, the lower end of a pair of of supporting leg has pair the present invention in the central vertical line both sides of electric pushrod
Title or asymmetric rotation ", such structure, is not only adapted to travelling box body or so and is uneven, can also adapt to and eliminate
Height difference before and after the same side, causes steadily to walk.
" with stretching for electric pushrod, the upper fulcrum of the angle bisection stent of both sides two is in the center of electric pushrod by the present invention
Vertical line both sides have symmetrical mobile all the time " such structure so that no matter how electric pushrod is carried out, and electric pushrod and pair of horns are put down
Split gear is symmetrically taken action all the time, is maintained at X-direction and is not deviated so that both sides rocking arm and driving axle housing do not deviate, it can be ensured that
Travelling box body is placed on stable suspension, itself is not deviated in the robot or installations walking with travelling box body, into
One step improves walking stability.
The present invention " the top paralleled by X axis configuration electric pushrod between two rocking arms, at the both ends of electric pushrod respectively symmetrically
Be configured with the angle bisection stent of upper and lower two fulcrum of Z-direction, the upper fulcrum of angle bisection stent be rotatably connected on electric pushrod one end and
The upper end of the damper of tubular, the lower fulcrum of angle bisection stent are fixedly connected with angle bisection gear, a pair of of the angle bisection configured side by side
Gear is intermeshed, by including angle bisection gear shaft rolling assembling, on outer rocker arm ", this scheme is not only unique, but also advantage is bright
It is aobvious, rotated synchronously by " a pair of of angle bisection gear is intermeshed " to realize.
Structure of the present invention is relatively easy, and clear principle is applied widely, can somewhat change to be applied to after structure and much adopt
With the vehicle or mobile robot platform of balancing rocker arm suspension.
Brief description of the drawings
Fig. 1 is a kind of embodiment three-dimensional axonometric drawing of the rocking arm type suspension mechanism of the high stationarity travelling box body of the present invention；
Fig. 2 is an embodiment of the present invention, and side supports view of the balancing stand from Y-direction, and can show angle bisection branch
On frame fulcrum be split as 2 points structure and with correlated parts connection mode；
Fig. 3 is the action schematic diagram of Fig. 2 correlated parts motion states；
Fig. 4 is the top view of Fig. 2；
Fig. 5 is the top view that Fig. 1 is observed by Z-direction；
Fig. 6 is side support balance mantel views of the Fig. 1 from X to observation, wherein eliminating inside and outside rocker part；
Fig. 7 is rocking arm type suspension mechanism views of the Fig. 1 from X to observation；
Fig. 8 supports balancing stand to change an angle for Fig. 2 sides, and axonometric drawing is overlooked above Z-direction；
Fig. 9 is the rocking arm type suspension mechanism view that Fig. 1 is observed by Y-direction.
In figure, 1 be universal joint, 2 be inner rocker arm, 3 be damper, 4 be supporting leg, 5 be to lock bolt, 6 be support ear, 7
It is angle bisection stent, 8 be supporting leg rotation axis, 9 be electric pushrod, 10 be big nut, 11 be outer rocker arm, 12 is angle bisection gear
Axis, 13 be angle bisection gear, 14 be driving axle housing, 15 be differential casing, 16 be revolving support, 17 be vertical connecting rod, 18 be flat
Weighing apparatus arm, 19 are connecting flanges.
Embodiment
The structure of suspension of the present invention is further described below in conjunction with attached drawing.
A kind of rocking arm type suspension mechanism of high stationarity travelling box body,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction, sets coordinate system easily to introduce sake of clarity to for Y.
Support balancing stand is respectively configured positioned at the both sides of travelling box body；The symmetrical phase of support balancing stand positioned at travelling box body both sides
Together.
The support balancing stand is spaced configuration by the outer rocker arm 11 and inner rocker arm 2 with XZ faces parallel planar and forms, in two institutes
Clamping a pair is in the supporting leg 4 of eight shape obliquely between stating rocking arm, and a pair of of supporting leg rotation axis 8 of the upper end through Y-direction of supporting leg 4 rotates
It is fixed on the inside and outside rocking arm；
Top paralleled by X axis configuration electric pushrod 9 between two rocking arms, respectively symmetrically configures at the both ends of electric pushrod 9
Have an angle bisection stent 7 of upper and lower two fulcrum of Z-direction, the upper fulcrum of angle bisection stent 7 be rotatably connected on electric pushrod 9 one end and
The upper end of the damper 3 of tubular, the lower fulcrum of angle bisection stent 7 are fixedly connected with angle bisection gear 13, the pair of horns configured side by side
Divide gear 13 equally to be intermeshed, by including 12 rolling assembling of angle bisection gear shaft, on outer rocker arm；
The lower end of damper 3 is rotatably connected on the middle and upper part position of supporting leg 4；
It is flexible with electric pushrod 9, the central vertical line of the upper fulcrum of the angle bisection stent 7 of both sides two in electric pushrod 9
Both sides have symmetrical all the time mobile；
With the change in shape of landing ground, the lower end of a pair of of supporting leg 4 does not have symmetrically or not in the central vertical line both sides of electric pushrod 9
It is symmetrical to rotate；
The inner rocker arm 2 rearward stretches out rod-shaped arm along X, and the rod-shaped arm ends of left and right two inner rocker arms 2 is respectively articulated with perpendicular
Straight vertical connecting rod 17, the lower end of left and right two vertical connecting rods 17 is hinged and connected by the counter-jib 18 of a Y-direction to be connect, counter-jib 18
Middle position is the hinged fixing point of a travelling box body；
2 central part of inner rocker arm of two support balancing stands, by 14 both ends of driving axle housing of Y-direction through pivoting support 16
It can be rotatablely connected around driving axle housing 14；
In 14 upper side position of driving axle housing, the fixing point of two travelling box bodies is set.With aforementioned hinge fixing point, it is
Travelling box body provides a three-point mount point structure.
The upper fulcrum of the angle bisection stent 7 is split as spaced apart 2 points, any is rotatably connected on electronic push away
One end of bar 9, the other end are rotatably connected on the upper end of tubular damper 3.Foregoing " the upper fulcrum rotation connection of angle bisection stent 7
In one end of electric pushrod 9 and the upper end of the damper 3 of tubular " although the action of the present invention, function can be realized, at the same time
One end of electric pushrod 9 and the upper end of damper 3 are connected, position is not easy to assemble, operates, also prevent phase with respect to some " crowded "
Mutually have wiping to touch, therefore as described in the technical program, " upper fulcrum is split as spaced apart 2 points " can be more calm
Ground assembles, and more calmly, is reasonably calculated by stress and displacement, designs corresponding scantling.
The certain distance is the distance less than or equal to fulcrum on the angle bisection stent 7 to lower fulcrum.Within this range
The effect of this technical solution is realized enough.
The supporting leg rotation axis 8 and 12 position of angle bisection gear shaft be not overlapping, and angle bisection gear shaft 12 is located relatively in Z-direction
Side.It is so designed that and controls, stress and assembling and action is more convenient, reasonable.
The welded support ear 6 being fixed on supporting leg 4 in the lower end of the damper 3 is rotatably connected in supporting leg 4
Portion position.More favourable making, assembly process process and walking motion are in place.
The distance that the lower end of upper end to the damper 3 of the supporting leg 4 is rotatably connected on position on supporting leg 4 is less than damper 3
Original length.It is bad apart from long stress, or even can not carry out, but distance can not be too short, can cause to interfere.
Athey wheel or rubber tire are configured in the lower end of the supporting leg 4.The form of two kinds of wheels can realize the walking mesh of the present invention
's.
In the center configuration differential casing 15 of the driving axle housing 14.Realize that differential mechanism turns to.
Using structure is arranged symmetrically at left and right sides of suspension, left and right sides configuration can be around two unthreaded holes of 11 lower part of outer rocker arm
Four supporting legs 4 rotated, welding support ear 6, support ear 6 are rotatablely connected with 3 lower end of damper on every supporting leg 4, damping
3 upper end of device is rotatablely connected with 9 connector of electric pushrod.
Described 4 one end of supporting leg can use with supporting leg rotation axis 8 and be welded to connect, simple in structure, reliable.
The unthreaded hole of 11 lower part of outer rocker arm is with setting engineering plastic bearing at 8 rotation connection of supporting leg rotation axis.
Connecting flange is set between inner rocker arm and outer rocker arm, and connecting flange both sides are connected by screw and interior outer rocker arm respectively
Pick up and, both sides device can be rotated by pivoting support 16 around midway drive axle housing 14.
The inner rocker arm 2 of suspension is connected with vertical connecting rod 17 by Hooke's joint, and the other end of vertical connecting rod 17 is further through ten
Word shaft universal-joint is connected with counter-jib 18.
" with the change in shape of landing ground, the lower end of a pair of of supporting leg has pair the present invention in the central vertical line both sides of electric pushrod
Title or asymmetric rotation ", " with stretching for electric pushrod, the upper fulcrum of the angle bisection stent of both sides two is in electric pushrod
Central vertical line both sides have symmetrical all the time mobile " so that robot or installations itself with travelling box body be not inclined all the time
Move, it is ensured that have higher walking stability.Structure of the present invention is relatively easy, and clear principle is applied widely, can somewhat change
Many vehicles or mobile robot platform for using balancing rocker arm suspension are applied to after structure.
Claims (8)
1. a kind of rocking arm type suspension mechanism of high stationarity travelling box body,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction to for Y, it is characterised in that：
Support balancing stand is respectively configured positioned at the both sides of travelling box body；
The support balancing stand with the configuration of the outer rocker arm (11) and inner rocker arm (2) of XZ faces parallel planar interval by forming, in two institutes
It is in the supporting leg (4) of eight shape obliquely to state clamping a pair between rocking arm, a pair of of supporting leg rotation axis of the upper end through Y-direction of supporting leg (4)
(8) rotate and be fixed on the inside and outside rocking arm；
Top paralleled by X axis configuration electric pushrod (9) between two rocking arms, respectively symmetrically configures at the both ends of electric pushrod (9)
There is the angle bisection stent (7) of upper and lower two fulcrum of Z-direction, the upper fulcrum of angle bisection stent (7) is rotatably connected on electric pushrod (9)
The upper end of the damper of one end and tubular (3), the lower fulcrum of angle bisection stent (7) are fixedly connected with angle bisection gear (13), side by side
A pair of of angle bisection gear (13) intermeshing of configuration, by including angle bisection gear shaft (12) rolling assembling, on outer rocker arm；
The lower end of damper (3) is rotatably connected on the middle and upper part position of supporting leg (4)；
With stretching for electric pushrod (9), the upper fulcrum of the two angle bisection stents (7) in electric pushrod (9) both sides is in electric pushrod
(9) central vertical line both sides have symmetrical all the time mobile；
With the change in shape of landing ground, the lower end of a pair of of supporting leg (4) does not have symmetrically or not in the central vertical line both sides of electric pushrod (9)
It is symmetrical to rotate；
The inner rocker arm (2) rearward stretches out rod-shaped arm along X, and the rod-shaped arm ends of left and right two inner rocker arms (2) is respectively articulated with perpendicular
Straight vertical connecting rod (17), the lower end of left and right two vertical connecting rods (17) is hinged and connected by the counter-jib (18) of a Y-direction to be connect, balance
The middle position of arm (18) is the hinged fixing point of a travelling box body；
Inner rocker arm (2) central part of two support balancing stands, by driving axle housing (14) both ends of Y-direction through pivoting support
(16) can be rotatablely connected around driving axle housing (14)；
Two side positions set the fixing point of two travelling box bodies on the driving axle housing (14).
2. rocking arm type suspension mechanism according to claim 1, it is characterised in that the upper fulcrum of the angle bisection stent (7) is split
For spaced apart 2 points, any is rotatably connected on one end of electric pushrod (9), and the other end is rotatably connected on tubular damping
The upper end of device (3).
3. rocking arm type suspension mechanism according to claim 2, it is characterised in that the certain distance is less than or equal to the angle
Divide on stent (7) fulcrum equally to the distance of lower fulcrum.
4. rocking arm type suspension mechanism according to claim 1, it is characterised in that the supporting leg rotation axis (8) and angle bisection gear
Axis (12) position is not overlapping, and angle bisection gear shaft (12) is located relatively above Z-direction.
5. rocking arm type suspension mechanism according to claim 1, it is characterised in that the welded fixation in lower end of the damper (3)
Support ear (6) on supporting leg (4) is rotatably connected on the middle and upper part position of supporting leg (4).
6. rocking arm type suspension mechanism according to claim 1, it is characterised in that the upper end of the supporting leg (4) to damper (3)
Lower end be rotatably connected on position on supporting leg (4) distance be less than damper (3) original length.
7. rocking arm type suspension mechanism according to claim 1, it is characterised in that configure Athey wheel in the lower end of the supporting leg (4)
Or rubber tire.
8. rocking arm type suspension mechanism according to claim 1, it is characterised in that in the center configuration of the driving axle housing (14)
Differential casing (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250697.8A CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250697.8A CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902007A true CN107902007A (en) | 2018-04-13 |
| CN107902007B CN107902007B (en) | 2023-12-05 |
Family
ID=61849711
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711250697.8A Active CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
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| Country | Link |
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| CN (1) | CN107902007B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109318673A (en) * | 2018-12-03 | 2019-02-12 | 成都越凡创新科技有限公司 | Keep the structure of the chassis balance of mobile robot |
| CN110329350A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of wheel steering system |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318673A (en) * | 2018-12-03 | 2019-02-12 | 成都越凡创新科技有限公司 | Keep the structure of the chassis balance of mobile robot |
| CN110329350A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of wheel steering system |
| CN110329350B (en) * | 2019-07-31 | 2024-03-15 | 北京履坦科技有限公司 | Vehicle steering system |
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| CN107902007B (en) | 2023-12-05 |
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