TWM624728U - Inclination Adjustment Mechanism of Unmanned Self-propelled Vehicle - Google Patents
Inclination Adjustment Mechanism of Unmanned Self-propelled Vehicle Download PDFInfo
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- TWM624728U TWM624728U TW110212303U TW110212303U TWM624728U TW M624728 U TWM624728 U TW M624728U TW 110212303 U TW110212303 U TW 110212303U TW 110212303 U TW110212303 U TW 110212303U TW M624728 U TWM624728 U TW M624728U
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Abstract
本創作為有關一種無人自走車之傾角調整機構，包括：底板，其組裝於該無人自走車之頂面；捲索調整器，其包括支架、電動源及穿設於其中之轉軸、減速機、主動滾輪及其捲繞有鋼索、從動滾輪、旋塊及夾塊；承載板，其底側與該些旋塊及該些夾塊做一組裝固定，該承載板依據該些旋塊所產生推拉力量並以該支軸及該些夾塊為支點以形成傾斜狀態，而該承載板頂面裝載有一預設物件；一傾角感測器及一控制器，二者固設於該底板與該承載板之間且與該電動源形成電性連接。 This work is related to an inclination adjustment mechanism for an unmanned vehicle, including: a bottom plate assembled on the top surface of the unmanned vehicle; a cable adjuster, which includes a bracket, an electric power source, and a rotating shaft, a decelerator, The machine, the driving roller and its winding wire rope, the driven roller, the rotating block and the clamping block; the bearing plate, the bottom side of which is assembled and fixed with the rotating blocks and the clamping blocks, and the bearing plate is based on the rotating blocks. The generated push-pull force takes the fulcrum and the clamping blocks as fulcrums to form an inclined state, and a preset object is loaded on the top surface of the carrying board; an inclination sensor and a controller are fixed on the bottom plate An electrical connection is formed between the carrier board and the electric power source.
Description
本創作係提供一種無人自走車之傾角調整機構，尤指一種於無人自走車上裝設有傾角感測器於移動過程中感測坡道傾角並產生感測信號，感測信號經由控制器接收及做信號處理後傳送控制信號，控制信號經由電動源接收後驅動轉軸產生旋動並透過該減速機降低旋動速度，與減速機連動之主動滾輪、複數從動滾輪透過鋼索以使複數旋塊於承載板底面二側產生一推一拉力量，並以支軸與複數夾塊為支點以調整承載板保持水平狀態，以使承載板上之預設物件不致於因傾斜而滑落損毀，此種透過傾角感測器自動感測且即時修正承載板的機電整合模組，可因應廠房不同地形或路面障礙物做出最佳化調整，更可實現無人自動化製造工廠。 This creation provides an inclination adjustment mechanism for an unmanned self-propelled vehicle, especially an inclination sensor installed on the unmanned self-propelled vehicle to sense the inclination of the ramp and generate a sensing signal during the moving process. The sensing signal is controlled by After receiving and processing the signal, the controller transmits the control signal. After the control signal is received by the electric power source, the rotating shaft is driven to rotate and the speed of rotation is reduced through the reducer. The rotating block generates a push and a pull force on the two sides of the bottom surface of the bearing plate, and uses the fulcrum and a plurality of clamping blocks as the fulcrum to adjust the bearing plate to maintain a horizontal state, so that the preset objects on the bearing plate will not slip and be damaged due to inclination. This kind of electromechanical integration module that automatically senses and corrects the carrier board through the tilt sensor can make optimal adjustments in response to different terrains of the factory or road obstacles, and can also realize an unmanned automated manufacturing factory.
按，在半導體半成品的製造領域中，對於晶圓的傳送乃為相當重要的一環。而如何實現自動化的控管乃屬生產線上需要特別關注的重點。而複數片晶圓之體積與重量對於以人力搬運具有極大的負擔，再加上晶圓廠製程步驟相當複雜及產品組合多樣化。再者，不同產品之間也存在不同優先生產的問題，而頻繁的搬運活動易造成人員身體的危害，同時亦耗費大量時間成本。 According to this, in the field of semi-finished semiconductor manufacturing, the transfer of wafers is a very important part. And how to achieve automatic control is the focus of the production line that needs special attention. The volume and weight of multiple wafers are a great burden for manual handling. In addition, the fab process steps are quite complicated and the product portfolio is diversified. Furthermore, there is also the problem of different production priorities among different products, and frequent handling activities can easily cause physical harm to personnel, and also consume a lot of time and cost.
為解決上述人力搬運之缺點，自動化物料搬運系統(Autom ated Material Handling System，AMHS)可視為最佳解決方案。在晶圓廠具有數種自動化物料搬運系統可供選擇，其中包含：磁性導引無人搬運車(Automated Guided Vehicle，AGV)、有軌無人搬運車(Rail-Guided Vehicles，RGV)、空中式無人搬運車(Overhead Shuttle，OHS)、懸吊式自動搬運車(Overhead Hoist Transfer，OHT)，完全可以依照晶圓廠生產環境做最佳化的選擇。 In order to solve the above shortcomings of manual handling, the automatic material handling system (Autom ated Material Handling System, AMHS) can be considered the best solution. There are several automated material handling systems to choose from in the fab, including: Magnetically Guided Vehicles (AGVs), Rail-Guided Vehicles (RGVs), Aerial Unmanned Handling Overhead Shuttle (OHS) and Overhead Hoist Transfer (OHT) can be optimized according to the fab production environment.
由於晶圓的主要原料係為易脆化的矽化物或砷化鎵，因此晶片在未封裝保護之運送過程中，必須嚴格選擇晶圓運送的方式及相關載具，方能確保晶圓生產良率。於運送的過程中複數晶圓皆放置於一個專用的晶片盒(Wafer Carrier)中，而晶片盒內具有複數個晶圓插槽(Slot)，以防止晶圓歪斜、相疊或正反面錯置等情形，而晶片盒需透過一運送台車〔例如：磁性導引無人搬運車(Automated Guided Vehicle，AGV)〕送往生產線進行加工作業，運送台車於移動過程中，常因廠房坡道傾斜造成顛簸造成晶片盒滑移，更嚴重時將導致晶片盒自運送台車掉落而毀損晶圓，而前述習知晶圓盒於透過台車運送所產生的種種缺失，有待從事此行業者加以改進。 Since the main raw material of the wafer is brittle silicide or gallium arsenide, the wafer transportation method and related carriers must be strictly selected during the transportation of the wafer without encapsulation and protection to ensure good wafer production. Rate. During the transportation process, multiple wafers are placed in a dedicated wafer carrier (Wafer Carrier), and the wafer carrier has multiple wafer slots (Slot) to prevent the wafers from skewing, overlapping or dislocating the front and back sides. In other cases, the wafer cassette needs to be sent to the production line by a transport trolley (such as a magnetically guided unmanned vehicle (AGV)) for processing operations. During the movement of the transport trolley, bumps are often caused by the inclination of the factory ramp. The slippage of the wafer cassette is caused, and in more serious cases, the wafer cassette is dropped from the transport trolley and the wafers are damaged. The aforementioned conventional wafer cassettes are transported through the trolley.
故，創作人有鑑於上述之問題與缺失，乃蒐集相關資料，經由多方評估及考量，始設計出此種無人自走車之傾角調整機構之新型誕生。 Therefore, in view of the above problems and deficiencies, the creator collected relevant information, and after multiple evaluations and considerations, came up with the new birth of this kind of inclination adjustment mechanism for unmanned bicycles.
本創作之主要目的在於提供一種無人自走車之傾角調整機構，包括：底板，其組裝於該無人自走車之頂面；捲索調整器，其包括支 架、電動源及穿設於其中之轉軸、減速機、主動滾輪及其捲繞有鋼索、從動滾輪、旋塊及夾塊；承載板，其底側與該些旋塊及該些夾塊做一組裝固定，該承載板依據該些旋塊所產生推拉力量並以該支軸及該些夾塊為支點以形成傾斜狀態，而該承載板頂面裝載有一預設物件；一傾角感測器及一控制器，二者固設於該底板與該承載板之間且與該電動源形成電性連接。前述傾角感測器感測無人自走車於移動過程中偵測坡道傾角並產生感測信號，感測信號經由控制器接收及做信號處理後傳送控制信號，控制信號經由電動源接收後驅動轉軸產生旋動並透過該減速機降低旋動速度，與減速機連動之主動滾輪、複數從動滾輪透過鋼索以使複數旋塊於承載板底面二側產生一推一拉力量，並以支軸與複數夾塊為支點以調整承載板保持水平狀態，以使承載板上之預設物件不致於因傾斜而滑落損毀，此種透過傾角感測器自動感測且即時修正承載板的機電整合模組，可因應廠房不同地形或路面障礙物做出最佳化調整，更可實現無人自動化製造工廠。 The main purpose of this creation is to provide an inclination adjustment mechanism for an unmanned self-propelled vehicle, including: a bottom plate assembled on the top surface of the unmanned self-propelled vehicle; Rack, electric power source and rotating shaft, speed reducer, driving roller and its coiled wire rope, driven roller, rotating block and clamping block; bearing plate, its bottom side and these rotating blocks and these clamping blocks To be assembled and fixed, the carrier board forms an inclined state with the fulcrum and the clamping blocks as fulcrums according to the push-pull force generated by the rotating blocks, and a preset object is loaded on the top surface of the carrier board; a tilt angle sensor A controller and a controller are fixed between the bottom plate and the carrier board and form an electrical connection with the electric power source. The aforementioned inclination sensor senses the inclination of the ramp during the movement of the unmanned vehicle and generates a sensing signal. The sensing signal is received and processed by the controller to transmit the control signal, and the control signal is received by the electric power source and then driven. The rotating shaft rotates and the speed of rotation is reduced through the reducer. The driving roller and the plurality of driven rollers linked with the reducer pass through the steel cable to make the plurality of rotating blocks generate a push and a pull force on both sides of the bottom surface of the bearing plate, and the support shaft With a plurality of clamping blocks as fulcrums to adjust the carrier board to keep the horizontal state, so that the preset objects on the carrier board will not slip and be damaged due to inclination. The group can be optimally adjusted according to different terrains of the factory or road obstacles, and can also realize an unmanned automated manufacturing factory.
本創作之次要目的在於該傾角感測器係為一加速度感測器、一重力開關或一陀螺儀所構成。 The secondary purpose of the present invention is that the tilt sensor is composed of an acceleration sensor, a gravity switch or a gyroscope.
本創作之另一目的在於該底板與該承載板外緣組裝有具有防水防塵功能之二彈性側殼，並該二彈性側殼可因應該承載板之傾斜狀態產生一側壓縮且相對另一側伸展狀態。 Another object of the present invention is that the bottom plate and the outer edge of the carrying board are assembled with two elastic side shells with waterproof and dustproof functions, and the two elastic side shells can be compressed on one side and opposite to the other side according to the inclined state of the carrying board stretched state.
本創作之再一目的在於該二支架頂側各設有供該支軸嵌入定位之一U型槽，且該支軸二端外部與該二U型槽接合處各設有一軸承。 Another object of the present invention is that the top sides of the two brackets are each provided with a U-shaped groove for the support shaft to be inserted into and positioned, and a bearing is provided at the joints between the two outer ends of the support shaft and the two U-shaped grooves.
本創作之再一目的在於該旋塊內部空間設有供該鋼索纏繞之一轉向滾輪，且該旋塊一側鎖合有供該鋼索末端連接固定且可調整鬆緊 度之一張力調整螺栓。 Another object of the present invention is that the inner space of the rotary block is provided with a steering roller for winding the wire rope, and one side of the rotary block is locked with the end of the wire rope to be connected and fixed and the tightness can be adjusted. One degree of tension adjustment bolt.
1:無人自走車 1: Unmanned self-propelled vehicles
2:傾角調整機構 2: Inclination adjustment mechanism
21:底板 21: Bottom plate
22:捲索調整器 22: Coil adjuster
221:支架 221: Bracket
2211:U型槽 2211: U-slot
222:電動源 222: Electric source
2221:轉軸 2221: Spindle
2222:減速機 2222: Reducer
223:軸承 223: Bearings
224:主動滾輪 224: Active Roller
225:鋼索 225: Wire rope
226:從動滾輪 226: driven roller
227:旋塊 227: Rotary block
2271:轉向滾輪 2271: steering wheel
2272:張力調整螺栓 2272: Tension Adjustment Bolt
228:支軸 228: Pivot
2281:夾塊 2281: Clamping block
2282:軸承 2282: Bearing
23:承載板 23: Carrier plate
230:透孔 230: Through hole
24:傾角感測器 24: Inclination sensor
25:控制器 25: Controller
26:把手 26: Handle
27:彈性側殼 27: Elastic side shell
3:物件 3: Object
41:提供一傾角感測器感測一無人自走車於移動過程中偵測坡道傾角並產生一感測信號，感測信號經由一控制器接收及做信號處理後傳送一控制信號 41: Provide an inclination sensor to sense the inclination of an unmanned vehicle while moving and generate a sensing signal. The sensing signal is received and processed by a controller to transmit a control signal.
42:該控制信號經由一電動源接收後驅動一轉軸產生旋動並透過一減速機降低旋動速度 42: After the control signal is received by an electric power source, it drives a rotating shaft to rotate and reduces the rotating speed through a reducer
43:使與該減速機連動之二主動滾輪、複數從動滾輪透過複數鋼索以使複數 旋塊於一承載板底面二側產生一推一拉力量，並以支軸與複數夾塊為支點以調整該承載板保持水平狀態 43: Make the two active rollers and the plurality of driven rollers linked with the reducer pass through the plurality of steel cables to make the plurality of The rotating block generates a push and a pull force on two sides of the bottom surface of a carrying board, and uses the fulcrum and a plurality of clamping blocks as the fulcrum to adjust the carrying board to keep the horizontal state
〔第1圖〕係為本創作傾角調整機構之立體外觀圖。 [Picture 1] is a three-dimensional external view of the inclination adjustment mechanism of this creation.
〔第2圖〕係為本創作傾角調整機構之立體分解圖。 [Picture 2] is a three-dimensional exploded view of the inclination adjustment mechanism of this creation.
〔第3圖〕係為本創作傾角調整機構之另一視角立體分解圖。 [Picture 3] is another perspective exploded view of the inclination adjustment mechanism of this creation.
〔第4圖〕係為本創作傾角調整機構之立體局部剖面圖。 [Picture 4] is a three-dimensional partial cross-sectional view of the inclination adjustment mechanism of this creation.
〔第5圖〕係為本創作旋塊之立體剖面圖。 [Picture 5] is a three-dimensional cross-sectional view of the rotating block of this creation.
〔第6圖〕係為本創作傾角調整機構之實施例圖。 [Picture 6] is a diagram of an embodiment of the inclination adjustment mechanism for this creation.
〔第7圖〕係為本創作傾角調整機構進行傾角調整方法之流程圖。 [Picture 7] is a flow chart of the inclination adjustment method of this creative inclination adjustment mechanism.
為達成上述目的及功效，本創作所採用之技術手段及其構造，茲繪圖就本創作之較佳實施例詳加說明其特徵與功能如下，俾利完全瞭解。 In order to achieve the above-mentioned purpose and effect, the technical means and structure used in this creation, the preferred embodiment of this creation is described in detail as follows, and its features and functions are as follows, so as to be fully understood.
請參閱第1至6圖所示，各為本創作傾角調整機構之立體外觀圖、傾角調整機構之立體分解圖、傾角調整機構之另一視角立體分解圖、傾角調整機構之立體局部剖面圖、旋塊之立體剖面圖及傾角調整機構之實施例圖，由圖中可清楚看出，本創作實施例包括有：一無人自走車1、一傾角調整機構2及一物件3，而該傾角調整機構2主要構件及特徵詳述如下：
Please refer to Figures 1 to 6, each of which is a three-dimensional external view of the inclination adjustment mechanism, an exploded perspective view of the inclination adjustment mechanism, an exploded perspective view of the inclination adjustment mechanism, a three-dimensional partial cross-sectional view of the inclination adjustment mechanism, The three-dimensional cross-sectional view of the rotary block and the embodiment diagram of the inclination angle adjustment mechanism can be clearly seen from the figures. The main components and features of the
一底板21組裝於該無人自走車1之頂面。
A
一捲索調整器22包括各設於該底板21表面二側之一支架221
，且該二支架221之間設有一電動源222，該電動源222中穿置有連接於該二支架221之一轉軸2221，且該電動源222對應該轉軸2221處設有一減速機2222，於該減速機2222連接於該二支架221處各設有一主動滾輪224且該二主動滾輪224上各捲繞有一鋼索225，而該二支架221於二側處各設有供該鋼索225捲繞並產生轉向之一從動滾輪226，捲繞於該些從動滾輪226之該鋼索225二端各向上連接於一旋塊227，另該二支架221於中心頂側處穿設有一支軸228，該支軸228固定有複數夾塊2281；
A
一承載板23底側與該些旋塊227及該些夾塊2281做一組裝固定，該承載板23依據該些旋塊227所產生推拉力量並以該支軸228及該些夾塊2281為支點以形成傾斜狀態，而該承載板23頂面裝載有一預設物件3；
The bottom side of a carrying
一傾角感測器24及一控制器25，二者固設於該底板21與該承載板23之間且與該電動源222形成電性連接，而該傾角感測器24感測該無人自走車1於移動過程中偵測坡道傾角並產生一感測信號，該感測信號經由該控制器25接收及做信號處理後傳送一控制信號，該控制信號經由該電動源222接收後驅動該轉軸2221產生旋動並透過該減速機2222降低旋動速度，與該減速機2222連動之該二主動滾輪224、該些從動滾輪226透過該些鋼索225以使該些旋塊227於該承載板23底面二側產生一推一拉力量，並以該支軸228與該些夾塊2281為支點以調整該承載板23保持水平狀態，以使該承載板23上之該預設物件3不致於因傾斜而滑落損毀。
An
上述該底板21表面設有可供手提之複數把手26，當無人自走車1遇到路面障礙物產生停滯狀況時，可藉由人力握持該些把手26將無人自走車1拖離現場，以完成現場故障排除，或是欲將無人自走車1進行移
動或收納時，亦可透過該些把手26來完成任務。而該底板21與該承載板23外緣組裝有具有防水防塵功能之二彈性側殼27，並該二彈性側殼27可因應該承載板23之傾斜狀態產生一側壓縮且相對另一側伸展狀態，同時彈性側殼27具有罩蔽傾角調整機構2內部所有構件，以形成更佳的美觀性。
The above-mentioned surface of the
上述該二支架221頂側各設有供該支軸228嵌入定位之一U型槽2211，且該支軸228二端外部與該二U型槽2211接合處各設有一軸承2282。
A
上述該電動源222係指一馬達，且穿設於該馬達之該轉軸2221接合二支架221處各設有一軸承223，而電動源222內部除了馬達之外，尚包括如：蝸輪、蝸桿及螺桿之相關傳動構件，該些傳動構件雖未在圖式中做一顯示，但仍提出解說以供瞭解較為細部結構。
The above-mentioned
上述該旋塊227內部空間設有供該鋼索225纏繞之一轉向滾輪2271，且該旋塊227一側鎖合有供該鋼索225末端連接固定且可調整鬆緊度之一張力調整螺栓2272，而張力調整螺栓2272必須校正鋼索225至適當的鬆緊度，以免造成承載板23傾斜度不足或是過度，而使承載板23上之預設物件3因傾斜而滑落損毀。
The inner space of the
上述該承載板23中設有可降低整體重量之複數透孔230，而承載板23透過適度減輕重量，可使無人自走車1之負載降低而可配置較低之運行動力，進而達到節能減碳之目的。
The above-mentioned
上述該傾角感測器24係為一加速度感測器(Accelerometer-Sensor)、一重力開關(Gravity-Sensing Switch)或一陀螺儀(Gyroscope)所構成。
The above-mentioned
上述該預設物件3係指內部置放有複數晶圓之一晶圓盒，當然晶圓盒僅為眾多實施例的其中一種，本創作不以此自限。 The above-mentioned preset object 3 refers to a wafer cassette in which a plurality of wafers are placed. Of course, the wafer cassette is only one of many embodiments, and the present invention is not limited by this.
請參閱第7圖所示，係為本創作傾角調整機構進行傾角調整方法之流程圖，其係根據前述傾角感測器24及控制器25對捲索調整器22進行控制，包括有下列步驟：
Please refer to FIG. 7 , which is a flow chart of the method for adjusting the inclination angle of the inclination angle adjustment mechanism of the present invention, which is based on the
步驟41：提供一傾角感測器感測一無人自走車於移動過程中偵測坡道傾角並產生一感測信號，感測信號經由一控制器接收及做信號處理後傳送一控制信號。 Step 41 : Provide an inclination sensor to sense the inclination of an unmanned vehicle during movement to detect the inclination of the ramp and generate a sensing signal. The sensing signal is received and processed by a controller to transmit a control signal.
步驟42：該控制信號經由一電動源接收後驅動一轉軸產生旋動並透過一減速機降低旋動速度。 Step 42: The control signal is received by an electric power source and drives a rotating shaft to rotate, and reduces the rotating speed through a reducer.
步驟43：使與該減速機連動之二主動滾輪、複數從動滾輪透過複數鋼索以使複數旋塊於一承載板底面二側產生一推一拉力量，並以支軸與複數夾塊為支點以調整該承載板保持水平狀態。 Step 43: Make the two driving rollers and the plurality of driven rollers linked with the reducer pass through the plurality of steel cables, so that the plurality of rotary blocks generate a pushing and a pulling force on the two sides of the bottom surface of a bearing plate, and use the fulcrum and the plurality of clamping blocks as the fulcrum to adjust the carrier plate to keep it level.
本創作之無人自走車之傾角調整機構於實際運作時，於傾角調整機構2內部之傾角感測器24感測無人自走車1於移動過程中偵測坡道傾角並產生一感測信號(前述坡道係指上坡坡道、下坡坡道，或是導致承載板23產生搖晃之顛簸路面)，感測信號經由控制器25接收及做信號處理後傳送一控制信號，控制信號經由電動源222接收後驅動轉軸2221產生旋動並透過減速機2222降低旋動速度，與減速機2222連動之二主動滾輪224、複數從動滾輪226透過複數鋼索225以使複數旋塊227於承載板23底面二側產生一推一拉力量，並以支軸228與複數夾塊2281為支點以調整承載板23保持水平狀態，以使承載板23上之預設物件3(例如：內部設有複數晶圓插槽
之晶片盒)不致於因傾斜而滑落損毀，此種透過傾角感測器24自動感測且即時修正承載板23的機電整合模組，可因應廠房不同地形或路面障礙物做出最佳化調整，更可實現無人自動化製造工廠。
During the actual operation of the inclination adjustment mechanism of the unmanned vehicle of the present invention, the
上述僅為本創作之較佳實施例而已，非因此即侷限本創作之專利範圍，故舉凡運用本創作說明書及圖式內容所為之簡易修飾及等效結構變化，均應同理包含於本創作之專利範圍內，合予陳明。 The above is only the preferred embodiment of this creation, and therefore it limits the patent scope of this creation. Therefore, any simple modifications and equivalent structural changes made by using the contents of the description and drawings of this creation should be similarly included in this creation. Within the scope of the patent, I agree to Chen Ming.
綜上所述，本創作上述無人自走車之傾角調整機構於使用時，為確實能達到其功效及目的，故本創作誠為一實用性優異之創作，為符合新型專利之申請要件，爰依法提出申請，盼 審委早日賜准本案，以保障創作人之辛苦研發，倘若 鈞局審委有任何稽疑，請不吝來函指示，創作人定當竭力配合，實感德便。 To sum up, the above-mentioned inclination adjustment mechanism of the unmanned vehicle in this creation can indeed achieve its effect and purpose, so this creation is a creation with excellent practicability, and in order to meet the application requirements for a new type patent, The application is filed in accordance with the law, and I hope that the review committee will approve this case as soon as possible to protect the hard work of the creators. If the review committee of the Jun Bureau has any doubts, please send a letter for instructions, and the creators will do their best to cooperate.
2:傾角調整機構 2: Inclination adjustment mechanism
21:底板 21: Bottom plate
22:捲索調整器 22: Coil adjuster
221:支架 221: Bracket
2211:U型槽 2211: U-slot
222:電動源 222: Electric source
2221:轉軸 2221: Spindle
2222:減速機 2222: Reducer
223:軸承 223: Bearings
224:主動滾輪 224: Active Roller
225:鋼索 225: Wire rope
226:從動滾輪 226: driven roller
227:旋塊 227: Rotary block
2271:轉向滾輪 2271: steering wheel
2272:張力調整螺栓 2272: Tension Adjustment Bolt
228:支軸 228: Pivot
2281:夾塊 2281: Clamping block
2282:軸承 2282: Bearing
23:承載板 23: Carrier plate
230:透孔 230: Through hole
24:傾角感測器 24: Inclination sensor
25:控制器 25: Controller
26:把手 26: Handle
27:彈性側殼 27: Elastic side shell
Claims (9)
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| TW110212303U TWM624728U (en) | 2021-10-19 | 2021-10-19 | Inclination Adjustment Mechanism of Unmanned Self-propelled Vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI786892B (en) * | 2021-10-19 | 2022-12-11 | 陽程科技股份有限公司 | Inclination adjustment mechanism for unmanned self-propelled vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI786892B (en) * | 2021-10-19 | 2022-12-11 | 陽程科技股份有限公司 | Inclination adjustment mechanism for unmanned self-propelled vehicles |
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