CN110422248A - Hang driving device - Google Patents
Hang driving device Download PDFInfo
- Publication number
- CN110422248A CN110422248A CN201910620159.6A CN201910620159A CN110422248A CN 110422248 A CN110422248 A CN 110422248A CN 201910620159 A CN201910620159 A CN 201910620159A CN 110422248 A CN110422248 A CN 110422248A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- connecting plate
- frame connecting
- fixing axle
- briquetting
- 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
Links
- 239000000725 suspension Substances 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 230000001050 lubricating effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
-
- 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
-
- 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
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of suspension driving devices, comprising: suspension assembly, including in frame connecting plate and loading plate and the first rocker arm and the second rocker arm；Frame connecting plate is arranged for being fixedly connected with vehicle frame, the first rocker arm and the second rocker arm in parallel interval；One end pivotally connected frame connecting plate of first rocker arm, the hinged loading plate of the other end；One end pivotally connected frame connecting plate of second rocker arm, the hinged loading plate of the other end；And transmission component, including universal joint, output shaft and input shaft.Above-mentioned suspension driving device, structure is simple, first rocker arm and the second rocker arm are hingedly connected to be formed on frame connecting plate and loading plate and hang, transmission component passes through frame connecting plate and loading plate, and output shaft 22 occurs swing and shakes to mitigate tire bring for connecting the first rocker arm of tire and the second rocker arm, effective damping can be provided, the balance of vehicle frame is enhanced, improve the adaptability to landform.
Description
Technical field
The present invention relates to intelligent carriage technical fields, more particularly to a kind of suspension driving device.
Background technique
UGV belongs to the scope of wheeled mobile robot, is the abbreviation of Unmanned Ground Vehicle, implies that " nobody
All-terrain vehicle " refers to equipped with the homing guidances such as optics, electromagnetism, radio frequency device or wireless, wired remote control equipment, can
It is travelled according to the specified path of planning, the transport vehicle with safeguard protection and various transfer functions is wanted during traveling
Constantly independently change direction or artificial remotely controlling exercise.
Generally, the chassis driving device of the UGV trolley under 1.5M size on the market, it is most of to use the direct-connected drives without suspension
It is dynamic, it is poor for the adaptability of different terrain because not hung using direct-connected driving, and also therefore compare can be for chassis vibration
It is bigger, influence the whole traveling balance on chassis.
Summary of the invention
Based on this, the present invention provides a kind of suspension driving device, and structure is simple, can provide effective damping, enhancing balance
Property, improve the adaptability to landform.
In order to achieve the object of the present invention, the present invention adopts the following technical scheme:
A kind of suspension driving device, comprising:
Suspension assembly, including the frame connecting plate that is set in distance and loading plate and be installed on the frame connecting plate with
The first rocker arm and the second rocker arm between the loading plate；For being fixedly connected with vehicle frame, described first shakes the frame connecting plate
Arm and second rocker arm are arranged in parallel interval；Hingedly the frame connecting plate, the other end are cut with scissors for one end of first rocker arm
Connect the loading plate；The hinged frame connecting plate in one end of second rocker arm, the hinged loading plate of the other end；Described
Two rocker arms are scalable setting；And
Transmission component, the transmission component wear the suspension assembly；The transmission component includes universal joint, is connected to institute
It states the output shaft of universal joint one end and is connected to the input shaft of the universal joint other end；The universal joint is located at described first
Between rocker arm and second rocker arm.
Above-mentioned suspension driving device, structure is simple, and the first rocker arm is hingedly connected to frame connecting plate and holds with the second rocker arm
On support plate formed suspension, transmission component pass through frame connecting plate and loading plate, and output shaft for connect the first rocker arm of tire with
Second rocker arm occurs to swing to provide effective damping to mitigate the vibration of tire bring, enhance the balance of vehicle frame, raising pair
The adaptability of landform.
First rocker arm includes the first arm body, is connected to the first arm body with respect to two in one of the embodiments,
First rotating cylinder at end, the first fixing axle for wearing first rotating cylinder and abut the first fixing axle opposite end
First briquetting；First fixing axle is separately connected the frame connecting plate and the loading plate.
First briquetting is respectively used to connect the frame connecting plate and the carrying in one of the embodiments,
Plate, first briquetting abuts first fixing axle, so that first fixing axle is relatively fixed to described first
Between briquetting and the frame connecting plate, another described first fixing axle is relatively fixed to first briquetting and the carrying
Between plate.
Second rocker arm includes the second arm body, is connected to the second arm body with respect to two in one of the embodiments,
Second rotating cylinder at end, the second fixing axle for wearing second rotating cylinder and abut the second fixing axle opposite end
Second briquetting；Second fixing axle is separately connected the frame connecting plate and the loading plate.
Second briquetting is respectively used to connect the frame connecting plate and the carrying in one of the embodiments,
Plate, second briquetting abuts second fixing axle, so that second fixing axle is relatively fixed to described second
Between briquetting and the frame connecting plate, another described second fixing axle is relatively fixed to second briquetting and the carrying
Between plate.
The second arm body is scalable setting in one of the embodiments,.
The suspension assembly further includes the shock absorber for connecting first rocker arm in one of the embodiments,；It is described to keep away
It shakes device and is used for connecting vehicle frame far from one end of first rocker arm.
Suspension driving device further includes the Power Component for being installed on institute's suspension assembly side in one of the embodiments,
The Power Component connects the transmission component；The Power Component includes being installed on the frame connecting plate backwards to the suspension
The driving wheel of the side of component and driven wheel are arranged the driving wheel and the synchronous belt of the driven wheel, connect the driving wheel
Speed reducer and the connection speed reducer driving motor；The rotor of the speed reducer wears the driving wheel；The input shaft
Wear after the frame connecting plate with the concentric connection of the input shaft.
The side of the synchronous belt is also equipped with pinch wheels in one of the embodiments, and the pinch wheels are for abutting
The synchronous belt.
The output shaft is connected with a transfer panel after wearing the loading plate in one of the embodiments,.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the suspension driving device of a better embodiment of the invention；
Fig. 2 is the stereoscopic schematic diagram at another visual angle of suspension driving device shown in FIG. 1；
Fig. 3 is the stereoscopic schematic diagram of the suspension assembly in suspension driving device shown in FIG. 1；
Fig. 4 is the stereoscopic schematic diagram at another visual angle of the suspension assembly in suspension driving device shown in Fig. 3；
Fig. 5 is the dismantling schematic diagram of the first rocker arm and the second rocker arm in suspension driving device shown in Fig. 3；
Fig. 6 is transmission component, Power Component, frame connecting plate and the loading plate in suspension driving device shown in FIG. 1
Contrast schematic diagram；
Fig. 7 is the dismantling schematic diagram of the Power Component in suspension driving device shown in Fig. 6.
Attached drawing mark explanation:
10- suspension assembly, 11- frame connecting plate, 12- loading plate, the first rocker arm of 13-, 131- the first arm body, 132- first
Rotating cylinder, the first fixing axle of 133-, the first briquetting of 134-, the first pipe sleeve of 135-, the second rocker arm of 14-, 141- the second arm body, 142-
Second rotating cylinder, the second fixing axle of 143-, the second briquetting of 144-, the second pipe sleeve of 145-, 15- shock absorber；
20- transmission component, 21- universal joint, 22- output shaft, 23- input shaft, 24- transfer panel；
30- Power Component, 31- driving wheel, 32- driven wheel, 33- synchronous belt, 34- speed reducer, 35- driving motor, 36- folder
Bearing up pulley.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Fig. 1 to Fig. 7 is please referred to, for the suspension driving device of an of the invention better embodiment, including suspension assembly 10, is worn
If the transmission component 20 of suspension assembly 10 and the Power Component 30 for being installed on 10 side of suspension assembly；The connection of Power Component 30 passes
Dynamic component 20, for driving transmission component 20 to operate.
As shown in Figures 3 and 4, the suspension assembly 10 include the frame connecting plate 11 that is set in distance and loading plate 12,
It is installed on the first rocker arm 13 between frame connecting plate 11 and loading plate 12 and the second rocker arm 14 and connect keeping away for the first rocker arm 13
Shake device 15；Shock absorber 15 is used for connecting vehicle frame far from one end of the first rocker arm 13, and vehicle frame is located on chassis.Frame connecting plate 11 is used
In being fixedly connected with vehicle frame, so that entire suspension assembly 10 is connected on vehicle frame.In the present embodiment, the first rocker arm 13 shakes with second
Arm 14 is arranged in parallel interval.
As shown in figure 5, the first rocker arm 13 includes the first arm body 131, the first rotation for being connected to 131 opposite end of the first arm body
Rotating cylinder 132, the first fixing axle 133 for wearing the first rotating cylinder 132 and the first pressure for abutting 133 opposite end of the first fixing axle
Block 134.First arm body, 131 bearer connection shock absorber 15, the first fixing axle 133 are connected to frame connecting plate 11 and loading plate
On 12, specifically, in the present embodiment, the substantially C-shaped setting of the first briquetting 134, the first briquetting 134 is respectively used to connecting vehicle frame
Connecting plate 11 and loading plate 12, the first briquetting 134 abuts the first fixing axle 133, so that first fixing axle 133 is relatively fixed
Between the first briquetting 134 and frame connecting plate 11, another first fixing axle 133 is relatively fixed to the first briquetting 134 and holds
Between support plate 12.Relatively fixed between first fixing axle 133 and frame connecting plate 11, loading plate 12, i.e., the first fixing axle 133 exists
Relative motion cannot occur on frame connecting plate 11 and loading plate 12.First fixing axle 133 is arranged in the first rotating cylinder 132,
So that the first rotating cylinder 132 can relatively rotate with the first fixing axle 133, to realize one end pivotally connected frame of the first rocker arm 13
Connecting plate 11, the hinged loading plate 12 of the other end.
Further, the first rocker arm 13 can also include being located between the first rotating cylinder 132 and the first fixing axle 133
First pipe sleeve 135, the first pipe sleeve 135 are used as lubricating action, provide protection against wear, moreover it is possible to fill up gap and reduce the entirety that gap generates
Suspension is shaken.
As shown in figure 5, the second rocker arm 14 includes the second arm body 141, the second rotation for being connected to 141 opposite end of the second arm body
Rotating cylinder 142, the second fixing axle 143 for wearing the second rotating cylinder 142 and the second pressure for abutting 143 opposite end of the second fixing axle
Block 144.In the present embodiment, the substantially C-shaped setting of the second briquetting 144, the second briquetting 144 are respectively used to connecting vehicle frame connecting plate
11 with loading plate 12, the second briquetting 144 abut the second fixing axle 143 so that second fixing axle 143 is relatively fixed to second
Between briquetting 144 and frame connecting plate 11, another second fixing axle 143 is relatively fixed to the second briquetting 144 and loading plate 12
Between.Relatively fixed between second fixing axle 143 and frame connecting plate 11, loading plate 12, i.e. the second fixing axle 143 connects in vehicle frame
Relative motion cannot occur on fishplate bar 11 and loading plate 12.Second fixing axle 143 is arranged in the second rotating cylinder 142, so that the
Two rotating cylinders 142 can relatively rotate with the second fixing axle 143, to realize one end pivotally connected frame connecting plate of the second rocker arm 14
11, the hinged loading plate 12 of the other end.
Further, the second rocker arm 14 can also include being located between the second rotating cylinder 142 and the second fixing axle 143
Second pipe sleeve 145, the second pipe sleeve 145 are used as lubricating action, provide protection against wear, moreover it is possible to fill up gap and reduce the entirety that gap generates
Suspension is shaken.
Still further, the second rocker arm 14 is scalable setting, specifically the second arm body 141 is scalable setting, than
If the second arm body 141 can be an adjustment axis, the length of adjustable second arm body 141, to ensure the second rocker arm 14 and the
One rocker arm, 13 keeping parallelism relationship.
As shown in fig. 6, the transmission component 20 include universal joint 21, be connected to 21 one end of universal joint output shaft 22 and
It is connected to the input shaft 23 of 21 other end of universal joint.Universal joint 21 is between the first rocker arm 13 and the second rocker arm 14, output shaft
22 wear and are connected with a transfer panel 24 after loading plate 12, and transfer panel 24 is for connecting tire.Input shaft 23 wears vehicle frame connection
Power Component 30 is connected after plate 11, the torque that Power Component 30 provides is transmitted via input shaft 23, universal joint 21 and output shaft 22
To transfer panel 24, transfer panel 24 is driven to rotate, and then drives tyre rotation.In the present embodiment, axis is installed in loading plate 12
(not shown) is held, bearing is worn for accommodating output shaft 22, guarantees that movement becomes more steady and close.
In the present embodiment, the middle part of universal joint 21 is connected using spline, has scalability energy, and when stretching motion rotates
Lesser gap is generated, also can guarantee that torque transmission efficiency is higher.
As shown in fig. 7, the Power Component 30 includes being installed on frame connecting plate 11 backwards to the side of suspension assembly 10
Driving wheel 31 and driven wheel 32, be arranged driving wheel 31 with the synchronous belt 33 of driven wheel 32, connect driving wheel 31 speed reducer 34 and
Connect the driving motor 35 of speed reducer 34；The rotor of speed reducer 34 wears driving wheel 31, driving motor 35 by speed reducer 34 into
And driving wheel 31 is driven to rotate, then drive driven wheel 32 to rotate by synchronous belt 33.Driven wheel 32 and the concentric company of input shaft 23
It connects, the torque to generate driving motor 35 is transmitted on transmission component 20, and then is transmitted to tire and is made its rotation.
In the present embodiment, it is also equipped with bearing (not shown) between driving wheel 31 and the rotor of speed reducer 34, is guaranteeing
It does not influence to support driving wheel 31 in the case where smooth rotation degree, reduces radial force suffered by speed reducer 34.Similarly, driven wheel 32
Bearing is also installed between input shaft 23.
In the present embodiment, the side of synchronous belt 33 is also equipped with pinch wheels 36, and pinch wheels 36 are used to abut synchronous belt 33,
To adjust the elasticity between synchronous belt 33 and driving wheel 31, driven wheel 32.
First rocker arm 13 and the second rocker arm 14 are hingedly connected on frame connecting plate 11 and loading plate 12, form suspension, In
When normal work, the first rocker arm 13 can be swung with the second rocker arm 14, to mitigate the vibration of tire bring, enhance vehicle frame
Balance improves the adaptability to landform.
Above-mentioned suspension driving device, structure is simple, and the first rocker arm 13 and the second rocker arm 14 are hingedly connected to frame connecting plate
11 hang with formation on loading plate 12, and transmission component 20 passes through frame connecting plate 11 and loading plate 12, and output shaft 22 is for connecting
Cock wheel tire the first rocker arm 13 and the second rocker arm 14 occur to swing to provide effective damping to mitigate the vibration of tire bring, increase
The balance of strong vehicle frame, improves the adaptability to landform.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of suspension driving device characterized by comprising
Suspension assembly, including the frame connecting plate that is set in distance and loading plate and be installed on the frame connecting plate with it is described
The first rocker arm and the second rocker arm between loading plate；The frame connecting plate for being fixedly connected with vehicle frame, first rocker arm with
Second rocker arm is arranged in parallel interval；The hinged frame connecting plate in one end of first rocker arm, the hinged institute of the other end
State loading plate；The hinged frame connecting plate in one end of second rocker arm, the hinged loading plate of the other end；Described second shakes
Arm is scalable setting；And
Transmission component, the transmission component wear the suspension assembly；The transmission component includes universal joint, is connected to described ten thousand
To section one end output shaft and be connected to the input shaft of the universal joint other end；The universal joint is located at first rocker arm
Between second rocker arm.
2. suspension driving device according to claim 1, which is characterized in that first rocker arm includes the first arm body, connects
It is connected to the first rotating cylinder of the first arm body opposite end, wear the first fixing axle of first rotating cylinder and abuts institute
State the first briquetting of the first fixing axle opposite end；First fixing axle is separately connected the frame connecting plate and the carrying
Plate.
3. suspension driving device according to claim 2, which is characterized in that first briquetting is respectively used to described in connection
Frame connecting plate and the loading plate, first briquetting abut first fixing axle, so that one described first is fixed
Axis is relatively fixed between first briquetting and the frame connecting plate, another described first fixing axle is relatively fixed to institute
It states between the first briquetting and the loading plate.
4. suspension driving device according to claim 1, which is characterized in that second rocker arm includes the second arm body, connects
It is connected to the second rotating cylinder of the second arm body opposite end, wear the second fixing axle of second rotating cylinder and abuts institute
State the second briquetting of the second fixing axle opposite end；Second fixing axle is separately connected the frame connecting plate and the carrying
Plate.
5. suspension driving device according to claim 4, which is characterized in that second briquetting is respectively used to described in connection
Frame connecting plate and the loading plate, second briquetting abut second fixing axle, so that one described second is fixed
Axis is relatively fixed between second briquetting and the frame connecting plate, another described second fixing axle is relatively fixed to institute
It states between the second briquetting and the loading plate.
6. suspension driving device according to claim 4, which is characterized in that the second arm body is scalable setting.
7. suspension driving device according to claim 1, which is characterized in that the suspension assembly further includes connection described the
The shock absorber of one rocker arm；The shock absorber is used for connecting vehicle frame far from one end of first rocker arm.
8. suspension driving device according to claim 1, which is characterized in that further include being installed on institute's suspension assembly side
Power Component, the Power Component connect the transmission component；The Power Component includes being installed on the frame connecting plate back
To the side of the suspension assembly driving wheel and driven wheel, be arranged the driving wheel and the synchronous belt of the driven wheel, connect
The speed reducer of the driving wheel and the driving motor of the connection speed reducer；The rotor of the speed reducer wears the driving wheel；
The input shaft wear after the frame connecting plate with the concentric connection of the input shaft.
9. suspension driving device according to claim 8, which is characterized in that the side of the synchronous belt is also equipped with clamping
Wheel, the pinch wheels are for abutting the synchronous belt.
10. suspension driving device according to claim 1, which is characterized in that after the output shaft wears the loading plate
It is connected with a transfer panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620159.6A CN110422248A (en) | 2019-07-10 | 2019-07-10 | Hang driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620159.6A CN110422248A (en) | 2019-07-10 | 2019-07-10 | Hang driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110422248A true CN110422248A (en) | 2019-11-08 |
Family
ID=68409193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910620159.6A Pending CN110422248A (en) | 2019-07-10 | 2019-07-10 | Hang driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110422248A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319438A (en) * | 2020-02-22 | 2020-06-23 | 苏州玖物互通智能科技有限公司 | Mobile platform |
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
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| EP0830955A1 (en) * | 1996-09-20 | 1998-03-25 | Automobiles Peugeot | Suspension device particularly for motor vehicle |
| JP2001080331A (en) * | 1999-09-14 | 2001-03-27 | Daihatsu Motor Co Ltd | Suspension device for vehicle |
| EP1190875A2 (en) * | 2000-09-25 | 2002-03-27 | BRIGGS & STRATTON CORPORATION | Suspension system for a vehicle |
| DE102007041731A1 (en) * | 2007-09-04 | 2009-03-05 | Zf Friedrichshafen Ag | vehicle |
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN108099523A (en) * | 2017-12-19 | 2018-06-01 | 重庆飞逯科技有限公司 | Wheeled robot and its base apparatus |
| CN210391376U (en) * | 2019-07-10 | 2020-04-24 | 松灵机器人（东莞）有限公司 | Suspension drive |
-
2019
- 2019-07-10 CN CN201910620159.6A patent/CN110422248A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0830955A1 (en) * | 1996-09-20 | 1998-03-25 | Automobiles Peugeot | Suspension device particularly for motor vehicle |
| JP2001080331A (en) * | 1999-09-14 | 2001-03-27 | Daihatsu Motor Co Ltd | Suspension device for vehicle |
| EP1190875A2 (en) * | 2000-09-25 | 2002-03-27 | BRIGGS & STRATTON CORPORATION | Suspension system for a vehicle |
| DE102007041731A1 (en) * | 2007-09-04 | 2009-03-05 | Zf Friedrichshafen Ag | vehicle |
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| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319438A (en) * | 2020-02-22 | 2020-06-23 | 苏州玖物互通智能科技有限公司 | Mobile platform |
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
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