CN109303528A - Wheel body buffer adjusting mechanism and sweeping robot - Google Patents
Wheel body buffer adjusting mechanism and sweeping robot Download PDFInfo
- Publication number
- CN109303528A CN109303528A CN201710633214.6A CN201710633214A CN109303528A CN 109303528 A CN109303528 A CN 109303528A CN 201710633214 A CN201710633214 A CN 201710633214A CN 109303528 A CN109303528 A CN 109303528A
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- China
- Prior art keywords
- wheel body
- chassis
- supporting element
- fixed plate
- rotating block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 238000010408 sweeping Methods 0.000 title claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 230000003139 buffering effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 239000002360 explosive Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to transmission buffer technology fields, a kind of wheel body buffer adjusting mechanism and sweeping robot are provided, wheel body buffer adjusting mechanism includes fulcrum rotational structure, fixed plate and two wheel bodys, fulcrum rotational structure includes supporting element and rotating block, rotating block is articulated on supporting element and can be around in the rotation of pivoting point relative support, supporting element is fixed on chassis, rotating block is fixed on the middle part of fixed plate, two wheel bodys are individually fixed on the opposite both ends of fixed plate and pass through chassis, fixed plate is around in supporting element rotation with rotating block and tilts to another wheel body when a wheel body breaks the barriers wherein.When wherein a wheel body need to be by barrier to be cleaned, fixed plate is around in supporting element rotation with rotating block, the wheel body is elevated to meet the requirement to clear the jumps, the phenomenon that being not in Caton or all standing, meanwhile another wheel body is pushed along the vertical direction perpendicular to ground, in turn, the frictional force that wheel body and ground can be effectively improved prevents its idle running.
Description
Technical field
The present invention relates to transmission buffer technology field, a kind of wheel body buffer adjusting mechanism is especially provided and there is the wheel body
The sweeping robot of buffer adjusting mechanism.
Background technique
In sweeping robot field, chassis lacks buffer adjusting mechanism mostly, i.e. wheel body is connected directly between on chassis,
Since the wheel body dimensions of sweeping robot is small, Caton or rapid easily occurs if encountering the biggish barrier to be cleaned of volume
The phenomenon that stopping.Therefore, Caton or all standing easily occur when urgent need to resolve sweeping robot is because encountering volume biggish object to be cleaned
Problem.
Summary of the invention
The purpose of the present invention is to provide a kind of wheel body buffer adjusting mechanisms, it is intended to solve sweeping robot in the prior art
Because of the technical issues of Caton or all standing easily occurs when encountering the biggish barrier to be cleaned of volume.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of wheel body buffer adjusting mechanism, be set to sweeper
On the chassis of device people, including fulcrum rotational structure, fixed plate and two wheel bodys, the fulcrum rotational structure include supporting element with
And rotating block, the rotating block are articulated on the supporting element and can be around in pivoting point and rotate relative to the supporting element, the branch
Support member is fixed on the chassis, and the rotating block is fixed on the middle part of the fixed plate, and two wheel bodys are individually fixed in institute
The chassis is stated on the opposite both ends of fixed plate and passes through, the fixed plate passes through obstacle to be cleaned in wherein one wheel body
The supporting element rotation is around in the rotating block when object and is tilted to another wheel body.
Specifically, the supporting element is in U-shape, and the supporting element includes two vertical plates and the water for connecting two vertical plates
Plate, the level board are fixed on the chassis, and the rotating block is rotated between two vertical plates by shaft, and
And running clearance is formed between the rotating block and the level board.
Specifically, two vertical plates two diagonally are recessed inwardly to form the first inclined-plane far from the level board.
Specifically, the rotating block is cube structure, and the rotating block is fixed on institute away from the end face of the level board
The middle part of fixed plate is stated, the rotating block is recessed inwardly to form the second inclined-plane close to two side opposite the angles of the level board.
Specifically, the wheel body includes mounting plate, U-shaped fixed frame and idler wheel, and the mounting plate is fixed on the fixation
On plate, the U-shaped fixed frame includes two vertical articulated sections and horizontal articulated section, and the horizontal articulated section is articulated in the installation
It plate and can be rotated in the plane for being parallel to the mounting plate relative to the mounting plate, the idler wheel is articulated in the two vertical pivots
Between socket part.
Further, the wheel body buffer adjusting mechanism further includes multiple bolsters, and each bolster is with the support
Part is center equidistantly distributed in the two sides of the supporting element and between the fixed plate and the chassis, each buffering
Part is each attached on the chassis, also, one end of each bolster is resisted against in the fixed plate.
Preferably, the quantity of the bolster is four, and bolster described in every two is using the supporting element as symmetrical centre
The two sides of the supporting element are equally spacedly disposed side by side on along the width direction of the fixed plate.
Specifically, stating bolster includes main body, telescopic head and two fixing pieces, the telescopic head be set in the main body and
The main body it can stretch out or shrink relatively, the main body is arranged on the chassis, and two fixing pieces are sheathed on the master
Body and the two sides for being divided into the chassis.
Beneficial effects of the present invention: the wheel body buffer adjusting mechanism of offer of the invention, including fulcrum rotational structure, fixation
Plate and two wheel bodys.Fulcrum rotational structure includes supporting element and rotating block, and supporting element is fixed on chassis, is rotated simultaneously
Block is fixedly connected on the middle part of fixed plate, and two wheel bodys are then with the symmetrically disposed about both ends opposite in fixed plate of supporting element
On, also, two wheel bodys both pass through chassis.In this way, when wherein a wheel body need to be by barrier to be cleaned, obtain perpendicular to
The freedom degree of the vertical direction on ground, i.e. fixed plate are around in supporting element rotation with rotating block, i.e., the wheel is perpendicular to the perpendicular of ground
Histogram lifts certain altitude upwards, thus meet the requirement to clear the jumps, meanwhile, another wheel body is along perpendicular to the vertical of ground
Direction pushes, and in turn, can effectively improve the frictional force on wheel body and ground, prevent its idle running.
The present invention also provides a kind of sweeping robots, and two driving wheels including chassis and on the chassis also wrap
Wheel body buffer adjusting mechanism described above is included, the wheel body buffer adjusting mechanism is set on the chassis.
Specifically, the aperture worn for the wheel body is offered on the chassis.
Beneficial effects of the present invention: the sweeping robot of offer of the invention is due to using above-mentioned wheel body to buffer adjusting machine
On the basis of structure, then making the sweeping robot operational process more steady, barrier avoiding function is superior.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the explosive view of wheel body buffer adjusting mechanism provided in an embodiment of the present invention；
Fig. 2 is the partial cutaway view of wheel body buffer adjusting mechanism provided in an embodiment of the present invention；
Fig. 3 is the explosive view of fulcrum rotational structure provided in an embodiment of the present invention；
Fig. 4 is the explosive view of wheel body provided in an embodiment of the present invention.
Wherein, each appended drawing reference in figure:
100-wheel body buffer adjusting mechanisms, 1-fulcrum rotational structure, 2-fixed plates, 3-wheel bodys, 4-bolsters,
11-supporting elements, 12-rotating blocks, 111-vertical plates, 112-level boards, 113-running clearances, the 1111-the first inclined-plane,
121-the second inclined-plane, 31-mounting plates, 32-U-shaped fixed frames, 33-idler wheels, 321-vertical articulated sections, 322-horizontal pivot joints
Portion, 41-main bodys, 42-telescopic heads, 43-fixing pieces, 5-chassis, 51-apertures, 6-driving wheels.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Referring to FIG. 1, wheel body buffer adjusting mechanism 100 provided in an embodiment of the present invention, is located at the chassis 5 of sweeping robot
On, for assisting sweeping robot to pass through the biggish barrier of volume.Wheel body buffer adjusting mechanism 100 includes fulcrum rotational structure
1, fixed plate 2 and two wheel bodys 3, fulcrum rotational structure 1 include supporting element 11 and rotating block 12, and rotating block 12 is articulated in branch
In support member 11 and it can be around in the rotation of pivoting point relative support 11, supporting element 11 is fixed on chassis 5, and rotating block 12 is fixed on
The middle part of fixed board 2, two wheel bodys 3 are individually fixed on the opposite both ends of fixed plate 2 and pass through chassis 5, and fixed plate 2 one is taken turns wherein
The rotation of supporting element 11 is around in rotating block 12 when body 3 passes through barrier to be cleaned and is tilted to another wheel body 3.
Wheel body buffer adjusting mechanism 100 provided in an embodiment of the present invention, including fulcrum rotational structure 1, fixed plate 2 and two
A wheel body 3.Fulcrum rotational structure 1 includes supporting element 11 and rotating block 12, and supporting element 11 is fixed on chassis 5, is turned simultaneously
Motion block 12 is fixedly connected on the middle part of fixed plate 2, and two wheel bodys 3 are then symmetrically disposed about in fixed plate 2 with supporting element 11
On opposite both ends, also, two wheel bodys 3 both pass through chassis 5.In this way, wherein barrier to be cleaned need to ought be passed through by a wheel body 3
When, the freedom degree of the vertical direction perpendicular to ground is obtained, i.e. fixed plate 2 is around in supporting element 11 with rotating block 12 and rotates, i.e.,
The wheel lifts certain altitude on the vertical direction perpendicular to ground, thus meet the requirement to clear the jumps, meanwhile, another wheel body
3 push along the vertical direction perpendicular to ground, in turn, can effectively improve the frictional force of wheel body 3 Yu ground, prevent its sky
Turn.
Specifically, Fig. 1 to Fig. 3 is please referred to, in the present embodiment, supporting element 11 is in U-shape, and supporting element 11 includes two vertical plates
111 and the level boards 112 of two vertical plates 111 is connected, level board 112 is fixed on chassis 5, and rotating block 12 is by shaft in two
It being rotated between vertical plate 111, i.e., shaft sequentially passes through wherein a vertical plate 111, rotating block 12 and another vertical plate 111, and
And two vertical plate 111 be enclosed opening with level board 112 and be respectively facing a wheel body 3.Meanwhile rotating block 12 and level board 112
Between formed running clearance 113, in this way, can avoid rotating block 12 it is stuck in supporting element 11, to make two wheel bodys 3 with rotating block
Shaft between 12 and supporting element 11 is center of rotation in dipping and heaving in perpendicular.
Specifically, referring to FIG. 3, two vertical plates 111 far from level board 112 two diagonally be recessed inwardly to be formed first tiltedly
Face 1111.When fixed plate 2 swings with 12 relative support 11 of rotating block, the first inclined-plane 1111 can increase the pendulum of fixed plate 2
Dynamic amplitude, so that fixed plate 2 obtains more swing spaces.When fixed plate 2 is resisted against on the first inclined-plane 1111, rotating block 12
Then reach rotational limitation, i.e., wherein a wheel body 3 obtains degree of raising in the maximum in perpendicular.
Specifically, Fig. 2 and Fig. 3 are please referred to, rotating block 12 is cube structure, and rotating block 12 deviates from the end of level board 112
The middle part of fixed plate 2 is fixed in face, and rotating block 12 is recessed inwardly to form the second inclined-plane close to two side opposite the angles of level board 112
121.When rotating block 12 rotates between two vertical plates 111, the second inclined-plane 121 passes through running clearance 113 with rotating block 12, from
And prevent rotating block 12 from scraping with level board 112, and then ensure more smooth in 12 rotation process of rotating block.
Specifically, referring to FIG. 4, wheel body 3 includes mounting plate 31, U-shaped fixed frame 32 and idler wheel 33.Mounting plate 31 is fixed
In in fixed plate 2, U-shaped fixed frame 32 includes two vertical articulated sections 321 and horizontal articulated section 322, and horizontal articulated section 322 is pivotally connected
It can rotate in mounting plate 31 and in the plane for being parallel to mounting plate 31 relative to mounting plate 31, idler wheel 33 is articulated in two vertical pivot joints
Between portion 321.In this way, idler wheel 33 can get 360 ° of turn in the pivot joint rotational plane of horizontal articulated section 322 and mounting plate 31
Dynamic freedom degree, meets the multidirectional motion requirement of sweeping robot.
Further, Fig. 1 and Fig. 2 are please referred to, in the present embodiment, wheel body buffer adjusting mechanism 100 further includes multiple slow
Stamping 4, each bolster 4 are center equidistantly distributed in the two sides of supporting element 11 with supporting element 11 and are located at fixed plate 2 and chassis 5
Between, each bolster 4 is each attached on chassis 5, also, one end of each bolster 4 is resisted against in fixed plate 2.The work of bolster 4
With being the amplitude for buffering fixed plate 2 and being swung up and down around supporting element 11, avoids fixed plate 2 from only tilting to one end, maintain fixed plate 2
Dynamic equilibrium.Meanwhile when being lifted on the wheel body 3 of 2 one end of fixed plate, each bolster 4 of the same side then the moment against fixed plate 2,
And push fixed plate 2 to stablize and constantly raise, and each bolster 4 of the other side is then in pressured state, further prevent solid
It is too fast that fixed board 2 swings up and down frequency.
Preferably, referring to FIG. 1, in the present embodiment, the quantity of bolster 4 is four, every two bolster 4 is to support
Part 11 is the two sides that symmetrical centre is equidistantly disposed side by side on supporting element 11 along the width direction of fixed plate 2.In this way, fixed plate 2
Two end sides are more uniformly stressed.Certainly, according to the of different size of fixed plate 2, the quantity of changeable bolster 4.
Specifically, referring to FIG. 2, bolster 4 includes main body 41, telescopic head 42 and two fixing pieces 43.Telescopic head 42
In main body 41 and main body 41 it can stretch out or shrink relatively, main body 41 is arranged on chassis 5, and two fixing pieces 43 are sheathed on master
Body 41 and the two sides for being divided into chassis 5.The etching of telescopic head 42 of fixed plate 2 is resisted against in pressured state, is stretched in main body 41
Contracting.For fixed stability separately, two fixing pieces 43 are set up to the opposite sides on miscellaneous chassis 5, and is sheathed in main body 41.It is preferred that
Ground, fixing piece 43 are nut, are externally threaded on the side wall of main body 41.
Referring to FIG. 1, two driving wheels 6 the present invention also provides a kind of sweeping robot, including chassis 5, on chassis 5
And above-mentioned wheel body buffer adjusting mechanism 100, wheel body buffer adjusting mechanism 100 are set on chassis 5.Adjusting machine is buffered in wheel body
On the basis of structure 100, the sweeping robot operational process is more steady, and barrier avoiding function is superior.
Specifically, referring to FIG. 1, offering the aperture 51 worn for wheel body 3 on chassis 5.To facilitate wheel body 3 multi-party
Position rotation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of wheel body buffer adjusting mechanism, on the chassis of sweeping robot, it is characterised in that: rotate and tie including fulcrum
Structure, fixed plate and two wheel bodys, the fulcrum rotational structure include supporting element and rotating block, and the rotating block is articulated in institute
It states on supporting element and pivoting point can be around in and rotated relative to the supporting element, the supporting element is fixed on the chassis, and described turn
Motion block is fixed on the middle part of the fixed plate, and two wheel bodys are individually fixed on the opposite both ends of the fixed plate and pass through institute
Chassis is stated, the fixed plate is around in the support with the rotating block when wherein one wheel body is by barrier to be cleaned
Part is rotated and is tilted to another wheel body.
2. wheel body buffer adjusting mechanism according to claim 1, it is characterised in that: the supporting element is in U-shape, the support
Part includes two vertical plates and the level board for connecting two vertical plates, and the level board is fixed on the chassis, and described turn
Motion block is rotated between two vertical plates by shaft, also, is formed between rotation between the rotating block and the level board
Gap.
3. wheel body buffer adjusting mechanism according to claim 2, it is characterised in that: two vertical plates are far from the level
The two of plate diagonally are recessed inwardly to form the first inclined-plane.
4. wheel body buffer adjusting mechanism according to claim 2, it is characterised in that: the rotating block is cube structure,
The rotating block is fixed on the middle part of the fixed plate away from the end face of the level board, and the rotating block is close to the level board
Two side opposite the angles be recessed inwardly to form the second inclined-plane.
5. wheel body buffer adjusting mechanism according to claim 1, it is characterised in that: the wheel body includes that mounting plate, U-shaped are solid
Determine frame and idler wheel, the mounting plate is fixed in the fixed plate, and the U-shaped fixed frame includes two vertical articulated sections and water
Flat articulated section, the horizontal articulated section are articulated in the mounting plate and can be relatively described in the plane for being parallel to the mounting plate
Mounting plate rotation, the idler wheel are articulated between the two vertical articulated sections.
6. wheel body buffer adjusting mechanism according to any one of claims 1 to 5, it is characterised in that: the wheel body buffering is adjusted
Saving mechanism further includes multiple bolsters, and each bolster is center equidistantly distributed in the supporting element using the supporting element
Two sides and between the fixed plate and the chassis, each bolster is each attached on the chassis, also, each described
One end of bolster is resisted against in the fixed plate.
7. wheel body buffer adjusting mechanism according to claim 6, it is characterised in that: the quantity of the bolster is four,
Width direction of the bolster described in every two using the supporting element as symmetrical centre along the fixed plate is equally spacedly arranged side by side
In the two sides of the supporting element.
8. wheel body buffer adjusting mechanism according to claim 6, it is characterised in that: the bolster includes main body, stretches
Head and two fixing pieces, the telescopic head are set in the main body and the main body can stretch out or shrink relatively, and the main body is worn
On the chassis, two fixing pieces are sheathed on the main body and are divided into the two sides on the chassis.
9. a kind of sweeping robot, two driving wheels including chassis and on the chassis, it is characterised in that: further include as
The described in any item wheel body buffer adjusting mechanisms of right 1 to 8, the wheel body buffer adjusting mechanism are set on the chassis.
10. sweeping robot according to claim 9, it is characterised in that: offer on the chassis and worn for the wheel body
If aperture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633214.6A CN109303528A (en) | 2017-07-28 | 2017-07-28 | Wheel body buffer adjusting mechanism and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633214.6A CN109303528A (en) | 2017-07-28 | 2017-07-28 | Wheel body buffer adjusting mechanism and sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109303528A true CN109303528A (en) | 2019-02-05 |
Family
ID=65205337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710633214.6A Pending CN109303528A (en) | 2017-07-28 | 2017-07-28 | Wheel body buffer adjusting mechanism and sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109303528A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US2114571A (en) * | 1934-05-16 | 1938-04-19 | Renaux Eugene Prosper | Suspension for vehicles |
| CN2223228Y (en) * | 1995-06-28 | 1996-03-27 | 黄同元 | Self-pulling skidproof braker |
| TWM257804U (en) * | 2004-06-21 | 2005-03-01 | Footwear & Recreation Technolo | Transportation vehicle capable of crossing obstacle |
| CN101384466A (en) * | 2006-02-15 | 2009-03-11 | 特莱翁尼克瑞典有限公司 | Wheel suspension |
| CN105329335A (en) * | 2015-11-12 | 2016-02-17 | 机器时代(北京)科技有限公司 | Six-wheeled robot chassis and robot |
| CN105406389A (en) * | 2015-10-23 | 2016-03-16 | 江苏省电力公司无锡供电公司 | Multi-line inspection electric coaster |
| CN105439040A (en) * | 2014-09-19 | 2016-03-30 | Bt产品公司 | Forklift truck |
| CN208573615U (en) * | 2017-07-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Wheel body buffer adjusting mechanism and sweeping robot |
-
2017
- 2017-07-28 CN CN201710633214.6A patent/CN109303528A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2114571A (en) * | 1934-05-16 | 1938-04-19 | Renaux Eugene Prosper | Suspension for vehicles |
| CN2223228Y (en) * | 1995-06-28 | 1996-03-27 | 黄同元 | Self-pulling skidproof braker |
| TWM257804U (en) * | 2004-06-21 | 2005-03-01 | Footwear & Recreation Technolo | Transportation vehicle capable of crossing obstacle |
| CN101384466A (en) * | 2006-02-15 | 2009-03-11 | 特莱翁尼克瑞典有限公司 | Wheel suspension |
| US20090212508A1 (en) * | 2006-02-15 | 2009-08-27 | Trionic Sverige Ab | Wheel Suspension |
| CN105439040A (en) * | 2014-09-19 | 2016-03-30 | Bt产品公司 | Forklift truck |
| CN105406389A (en) * | 2015-10-23 | 2016-03-16 | 江苏省电力公司无锡供电公司 | Multi-line inspection electric coaster |
| CN105329335A (en) * | 2015-11-12 | 2016-02-17 | 机器时代(北京)科技有限公司 | Six-wheeled robot chassis and robot |
| CN208573615U (en) * | 2017-07-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Wheel body buffer adjusting mechanism and sweeping robot |
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