CN105644643A - Omnidirectional wheel suspension device for ground mobile robot - Google Patents
Omnidirectional wheel suspension device for ground mobile robot Download PDFInfo
- Publication number
- CN105644643A CN105644643A CN201610103764.2A CN201610103764A CN105644643A CN 105644643 A CN105644643 A CN 105644643A CN 201610103764 A CN201610103764 A CN 201610103764A CN 105644643 A CN105644643 A CN 105644643A
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- reduction box
- mobile robot
- ground mobile
- suspension
- 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
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
Abstract
The invention discloses an omnidirectional wheel suspension device for a ground mobile robot. The omnidirectional wheel suspension device comprises a drive mechanism and an omnidirectional wheel which are arranged at the bottom of a chassis body of the ground mobile robot. The drive mechanism comprises a transmission shaft with a power output function. The transmission shaft is sleeved with the omnidirectional wheel. A suspension base body perpendicular to the bottom of the chassis body is arranged at the bottom of the chassis body. Two suspension rocker arms which are equal in connecting length and are arranged in parallel are arranged between the suspension base body and the drive mechanism. The two ends of each suspension rocker arm are connected with the suspension base body and the drive mechanism in a hinged manner. The distance between two hinging points, on the suspension base body, of the two suspension rocker arms is equal to that between two hinging points, on the drive mechanism, of the two suspension rocker arms. An elastic supporting assembly is arranged between the chassis body and one hinge point of the drive mechanism. By the adoption of the omnidirectional wheel suspension device for the ground mobile robot, an independent suspension mechanism is adopted, and the chassis stability and shock resistance of the ground mobile robot are effectively improved.
Description
Technical field
The invention belongs to robot chassis technology field, be specifically related to a kind of ground mobile robot omni-directional wheel suspension arrangement.
Background technology
Along with the development of modern science and technology, robotics has progressed into the sight line of people, provides facility for people's life and work. The utilization of robot is very extensive, opens spy etc. including production line manufacture, Smart Home, fire-fighting system, deep-sea, completes, by robot, the work that many mankind cannot complete or be difficult to.
Ground mobile robot, by being arranged on the travelling mechanism of chassis by the robot body with various function, drives ground mobile robot to move by chassis travelling mechanism, has gone the function of correspondence. But the travelling mechanism of existing ground mobile robot generally adopts common ratcheting mechanism, robot body is arranged on chassis, and the movement on chassis is then by the move mode of motor direct-drive roller. The surface conditions run due to ground mobile robot is unpredictable, likely can run into rough road surface, existing chassis travelling mechanism shock resistance and buffer capacity are poor, if ground mobile robot adopts existing chassis travelling mechanism, it is easy to toppling through rough road surface.
Summary of the invention
It is an object of the invention to: obtain Problems existing in the travelling mechanism of chassis for existing, a kind of ground mobile robot omni-directional wheel suspension arrangement is provided, adopt the suspension matrix being perpendicular to chassis body, in conjunction with the double; two suspension rocking arms be arrangeding in parallel, form parallelogram sturcutre, make omni-directional wheel be perpendicular to chassis body all the time, be effectively increased the stationarity of chassis travelling mechanism, shock resistance and buffer capacity, to be suitable for the different road conditions that ground mobile robot runs.
To achieve these goals, the technical solution used in the present invention is:
A kind of ground mobile robot omni-directional wheel suspension arrangement, including the driving mechanism being arranged on bottom the chassis body of ground mobile robot and omni-directional wheel, described driving mechanism includes the power transmission shaft with power output, sheathed described omni-directional wheel on power transmission shaft; The suspension matrix bottom chassis body it is provided perpendicular to bottom described chassis body, hang and between matrix and driving mechanism, be provided with the suspension rocking arm that two connecting lengths are equal and are arranged in parallel, the two ends hanging rocking arm all adopt the mode being articulated and connected and suspension matrix, driving mechanism to be connected, and two distances hung between rocking arm distance and two pin joints on driving mechanism between two pin joints hung on matrix are equal; It is provided with resilient support assemblies between one of them pin joint of described chassis body and driving mechanism.
Preferably, described resilient support assemblies includes fixing tong arm, dumbbell shaped briquetting, and symmetrically arranged a pair spring keeps bar and a pair pendulum spring, two springs keep bar to be articulated and connected with the pin joint both sides formation being connected resilient support assemblies on driving mechanism respectively, two pendulum springs are respectively sleeved at spring and keep on bar, described dumbbell shaped briquetting two ends are respectively sleeved at two springs and keep on bar, pendulum spring being formed extruding, and keep the end of bar to be provided with the spacer pin being limited at the two ends of dumbbell shaped briquetting on spring maintenance bar at spring;The middle part of dumbbell shaped briquetting, through the fixing tong arm being fixed on chassis body, forms rotary type and connects.
Preferably, described driving mechanism includes motor, planetary reduction box, reduction box fixture and wheel hub installing rack, motor, planetary reduction box and reduction box fixture connect along power outbound course is fixing successively, described power transmission shaft is connected through reduction box fixture with the transmission of planetary reduction box power, wheel hub installing rack is set in outside reduction box fixture, and and reduction box fixture between install bearing, one end of wheel hub installing rack is connected with the wheel hub of omni-directional wheel.
Preferably, described two hang rocking arm and all adopt U-shape structure, the two ends hanging rocking arm are articulated and connected with hanging matrix, the reduction box fixture of centre position and driving mechanism is articulated and connected, and two pin joints with driving mechanism hanging rocking arms are distributed the upper and lower being positioned at reduction box fixture.
Owing to have employed technique scheme, the invention has the beneficial effects as follows:
A kind of ground mobile robot omni-directional wheel suspension arrangement of the present invention, double, two rocking arm is adopted to be connected between the driving mechanism of suspension arrangement and chassis body, and in conjunction with resilient support assemblies, constitute an independent suspended structure, this suspension arrangement is arranged on below chassis, the driving to ground mobile robot runs thus can be realized, the shock resistance of this suspension arrangement is better, when running into the road surface of injustice, can pass through resilient support assemblies coordinates suspension rocking arm to absorb vibrations, make the ground mobile robot main body on chassis can be steady, smoothly by pit or projection, ground mobile robot is avoided to topple phenomenon.
Accompanying drawing explanation
Fig. 1 is the ground mobile robot omni-directional wheel suspension arrangement structural representation of the present invention.
Fig. 2 is the ground mobile robot omni-directional wheel suspension arrangement front view of the present invention.
Fig. 3 is the ground mobile robot omni-directional wheel suspension arrangement top view of the present invention.
Fig. 4 is the A-A sectional view of Fig. 3.
Labelling in figure: 100-chassis body, 210-omni-directional wheel, 220-driving mechanism, 221-motor, 222-planetary reduction box, 223-reduction box fixture, 224-power transmission shaft, 225-wheel hub installing rack, 231-hangs matrix, 232-hangs rocking arm, 233-resilient support assemblies, and 233a-fixes tong arm, 233b-spacer pin, 233c-dumbbell shaped briquetting, 233d-spring keeps bar, 233f-pendulum spring.
Detailed description of the invention
With reference to Fig. 1-4, a kind of ground mobile robot omni-directional wheel suspension arrangement of the present invention, including the driving mechanism 220 being arranged on bottom the chassis body 100 of ground mobile robot and omni-directional wheel 210, driving mechanism 220 includes the power transmission shaft 224 with power output, sheathed described omni-directional wheel 210 on power transmission shaft 224, driving mechanism 220 includes motor 221, planetary reduction box 222, reduction box fixture 223 and wheel hub installing rack 225, motor 221, planetary reduction box 222 and reduction box fixture 223 connect along power outbound course is fixing successively, described power transmission shaft 224 is connected through reduction box fixture 223 with the transmission of planetary reduction box 222 power, wheel hub installing rack 225 is set in outside reduction box fixture 223, and and reduction box fixture 223 between install bearing, one end of wheel hub installing rack 225 is connected with the wheel hub of omni-directional wheel 210.
The suspension matrix 231 bottom chassis body 100 it is provided perpendicular to bottom chassis body 100, hang and between matrix 231 and driving mechanism 220, be provided with the suspension rocking arm 232 that two connecting lengths are equal and are arranged in parallel, the two ends hanging rocking arm 232 all adopt the mode being articulated and connected and suspension matrix 231, driving mechanism 220 to be connected, and two distances hung between the rocking arm 232 distance and two pin joints on driving mechanism 220 between two pin joints hung on matrix 231 are equal;It is provided with resilient support assemblies 233 between described chassis body 100 and one of them pin joint of driving mechanism 220.
Resilient support assemblies 233 includes fixing tong arm 233a, dumbbell shaped briquetting 233c, and symmetrically arranged a pair spring keeps bar 233d and a pair pendulum spring 233f, two springs keep bar 233d to be articulated and connected with the pin joint both sides formation being connected resilient support assemblies 233 on driving mechanism 220 respectively, two pendulum spring 233f are respectively sleeved at spring and keep on bar 233d, described dumbbell shaped briquetting 233c two ends are respectively sleeved at two springs and keep, on bar 233d, pendulum spring 233f is formed extruding, and keep the end of bar 233d to be provided with the spacer pin 233b being limited at the two ends of dumbbell shaped briquetting 233c on spring maintenance bar 233d at spring, the middle part of dumbbell shaped briquetting 233c, through the fixing tong arm 233a being fixed on chassis body 100, forms rotary type and connects.
Two are hung rocking arm 232 and adopt U-shape structure, the two ends hanging rocking arm 232 are articulated and connected with hanging matrix 231, the reduction box fixture 223 of centre position and driving mechanism 220 is articulated and connected, and two pin joints with driving mechanism 220 hanging rocking arms 232 are distributed the upper and lower being positioned at reduction box fixture 223.
In order to ensure ground mobile robot even running, being arranged below at chassis body 100 is the suspension arrangement of four groups of present invention of 90 �� of omnidirectional distribution, omni-directional wheel 210 may insure that ground mobile robot can quickly move in ground grading, is rapidly converting to, and the motion mode of obstacle avoidance is flexible.
When ground mobile robot runs to concave-convex road surface, some suspension arrangement below chassis body 100, then stress changes, driving mechanism 220 hangs rotating around suspension matrix 231 of rocking arm 232 by two arranged up and down, regulate the spacing between driving mechanism 220 and chassis body 100, fixing tong arm 233a on chassis body 100 then extrudes the pendulum spring 233f at two ends by dumbbell shaped briquetting 233c simultaneously, thus what keep chassis body 100 is maintained at a state relatively smoothly, thus passing through hollow or protruding ground, by afterwards, can be ensured that whole suspension arrangement is returned to original state by pendulum spring 233f, adopt the chassis of the suspension arrangement of the present invention, the independence to each omni-directional wheel 210 can be realized control, increase shock resistance and the buffer capacity on chassis.
Two of the present invention hang rocking arm 232 and adopt equal length to arrange, and the hinged distance at two ends is also equal, thus forming a parallelogram sturcutre, (adopt when wherein a limit is fixing and hang matrix 231), and in the vertical direction is arranged, limit on the other side then can only be moved by vertical direction again, it is ensured that between driving mechanism 220 and chassis body 100 can only in the vertical direction generation relative displacement, thus ensureing that the stationarity on chassis is better.
Claims (4)
1. a ground mobile robot omni-directional wheel suspension arrangement, including the driving mechanism (220) being arranged on bottom the chassis body (100) of ground mobile robot and omni-directional wheel (210), described driving mechanism (220) includes the power transmission shaft (224) with power output, the upper sheathed described omni-directional wheel (210) of power transmission shaft (224), it is characterized in that, described chassis body (100) bottom is provided perpendicular to the suspension matrix (231) of chassis body (100) bottom, hang and between matrix (231) and driving mechanism (220), be provided with the suspension rocking arm (232) that two connecting lengths are equal and are arranged in parallel, the two ends hanging rocking arm (232) all adopt the mode being articulated and connected and hang matrix (231), driving mechanism (220) connects, and two distances hung between the rocking arm (232) distance and two pin joints on driving mechanism (220) between two pin joints hung on matrix (231) are equal,It is provided with resilient support assemblies (233) between described chassis body (100) and one of them pin joint of driving mechanism (220).
2. ground mobile robot omni-directional wheel suspension arrangement according to claim 1, it is characterized in that, described resilient support assemblies (233) includes fixing tong arm (233a), dumbbell shaped briquetting (233c), and symmetrically arranged a pair spring keeps bar (233b) and a pair pendulum spring (233f), two springs keep bar (233b) to be articulated and connected with the pin joint both sides formation being connected resilient support assemblies (233) on driving mechanism (220) respectively, two pendulum springs (233f) are respectively sleeved at spring and keep on bar (233b), described dumbbell shaped briquetting (233c) two ends are respectively sleeved at two springs and keep, on bar (233b), pendulum spring (233f) is formed extruding, and keep the end of bar (233b) to be provided with the spacer pin (233b) being limited at the two ends of dumbbell shaped briquetting (233c) on spring maintenance bar (233b) at spring, the middle part of dumbbell shaped briquetting (233c), through the fixing tong arm (233a) being fixed on chassis body (100), forms rotary type and connects.
3. ground mobile robot omni-directional wheel suspension arrangement according to claim 1, it is characterized in that, described driving mechanism (220) includes motor (221), planetary reduction box (222), reduction box fixture (223) and wheel hub installing rack (225), motor (221), planetary reduction box (222) and reduction box fixture (223) connect along power outbound course is fixing successively, described power transmission shaft (224) is connected through reduction box fixture (223) with the transmission of planetary reduction box (222) power, wheel hub installing rack (225) is set in reduction box fixture (223) outward, and and reduction box fixture (223) between install bearing, one end of wheel hub installing rack (225) is connected with the wheel hub of omni-directional wheel (210).
4. ground mobile robot omni-directional wheel suspension arrangement according to claim 3, it is characterized in that, described two hang rocking arm (232) and all adopt U-shape structure, the two ends hanging rocking arm (232) are articulated and connected with hanging matrix (231), the reduction box fixture (223) of centre position and driving mechanism (220) is articulated and connected, and two pin joints with driving mechanism (220) hanging rocking arm (232) are distributed the upper and lower being positioned at reduction box fixture (223).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610103764.2A CN105644643A (en) | 2016-02-25 | 2016-02-25 | Omnidirectional wheel suspension device for ground mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610103764.2A CN105644643A (en) | 2016-02-25 | 2016-02-25 | Omnidirectional wheel suspension device for ground mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105644643A true CN105644643A (en) | 2016-06-08 |
Family
ID=56488768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610103764.2A Pending CN105644643A (en) | 2016-02-25 | 2016-02-25 | Omnidirectional wheel suspension device for ground mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105644643A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114103A (en) * | 2016-07-20 | 2016-11-16 | 浙江大学昆山创新中心 | A kind of multi link suspension for wheeled mobile robot |
| CN106427446A (en) * | 2016-09-27 | 2017-02-22 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN106493725A (en) * | 2016-10-25 | 2017-03-15 | 复旦大学 | A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder |
| CN106904056A (en) * | 2017-03-31 | 2017-06-30 | 杭州艾米机器人有限公司 | Suspension shock mitigation system |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN107140052A (en) * | 2017-04-24 | 2017-09-08 | 北京航空航天大学 | A kind of wheel leg type Hexapod Robot with suspension |
| CN107225926A (en) * | 2017-06-14 | 2017-10-03 | 电子科技大学 | Suspension |
| CN107253201A (en) * | 2017-06-14 | 2017-10-17 | 电子科技大学 | Material shoots robot |
| WO2018010178A1 (en) * | 2016-07-15 | 2018-01-18 | 深圳市大疆创新科技有限公司 | Movable apparatus, mobile photographing device, control system and method for movable apparatus |
| CN107902007A (en) * | 2017-12-01 | 2018-04-13 | 北京履坦科技有限公司 | A kind of rocking arm type suspension mechanism of high stationarity travelling box body |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN109397241A (en) * | 2018-11-13 | 2019-03-01 | 深圳供电局有限公司 | Crusing robot in a kind of Omni-mobile room |
| WO2019020861A3 (en) * | 2017-07-26 | 2019-03-28 | Universitat Politècnica De Catalunya | Omnidirectional platform and omnidirectional transporter |
| CN109774396A (en) * | 2019-01-15 | 2019-05-21 | 浙江大学 | A kind of mobile robot independent suspension structure |
| CN110435786A (en) * | 2019-08-15 | 2019-11-12 | 纳恩博（北京）科技有限公司 | Robot and its chassis |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
| CN115339547A (en) * | 2022-08-27 | 2022-11-15 | 松灵机器人（东莞）有限公司 | Traveling mechanism and mobile robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4573548A (en) * | 1983-07-23 | 1986-03-04 | Cybermation, Inc. | Mobile base for robots and the like |
| CN201415596Y (en) * | 2009-06-07 | 2010-03-03 | 陈建生 | Vehicle front wheel independent suspension device |
| WO2012008005A1 (en) * | 2010-07-12 | 2012-01-19 | 有限会社ティーエム | Inverted pendulum type moving body and moving robot |
| CN202242837U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Robot electric running gear with independent suspension |
| CN102941566A (en) * | 2012-11-29 | 2013-02-27 | 浙江纺织服装职业技术学院 | Object moving robot with soft fingers |
-
2016
- 2016-02-25 CN CN201610103764.2A patent/CN105644643A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4573548A (en) * | 1983-07-23 | 1986-03-04 | Cybermation, Inc. | Mobile base for robots and the like |
| CN201415596Y (en) * | 2009-06-07 | 2010-03-03 | 陈建生 | Vehicle front wheel independent suspension device |
| WO2012008005A1 (en) * | 2010-07-12 | 2012-01-19 | 有限会社ティーエム | Inverted pendulum type moving body and moving robot |
| CN202242837U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Robot electric running gear with independent suspension |
| CN102941566A (en) * | 2012-11-29 | 2013-02-27 | 浙江纺织服装职业技术学院 | Object moving robot with soft fingers |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018010178A1 (en) * | 2016-07-15 | 2018-01-18 | 深圳市大疆创新科技有限公司 | Movable apparatus, mobile photographing device, control system and method for movable apparatus |
| US10953998B2 (en) | 2016-07-15 | 2021-03-23 | SZ DJI Technology Co., Ltd. | Systems and methods for providing stability support |
| CN106114103A (en) * | 2016-07-20 | 2016-11-16 | 浙江大学昆山创新中心 | A kind of multi link suspension for wheeled mobile robot |
| CN106427446A (en) * | 2016-09-27 | 2017-02-22 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN106493725A (en) * | 2016-10-25 | 2017-03-15 | 复旦大学 | A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN106426214B (en) * | 2016-11-22 | 2018-10-30 | 湖北文理学院 | Service robot hangs chassis |
| CN106904056A (en) * | 2017-03-31 | 2017-06-30 | 杭州艾米机器人有限公司 | Suspension shock mitigation system |
| CN107140052A (en) * | 2017-04-24 | 2017-09-08 | 北京航空航天大学 | A kind of wheel leg type Hexapod Robot with suspension |
| CN107140052B (en) * | 2017-04-24 | 2019-04-26 | 北京航空航天大学 | A kind of wheel leg type hexapod robot with suspension |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN106976496B (en) * | 2017-05-05 | 2022-12-13 | 山东大学 | Balanced telescopic machanism and contain its balance car |
| CN107253201A (en) * | 2017-06-14 | 2017-10-17 | 电子科技大学 | Material shoots robot |
| CN107225926A (en) * | 2017-06-14 | 2017-10-03 | 电子科技大学 | Suspension |
| WO2019020861A3 (en) * | 2017-07-26 | 2019-03-28 | Universitat Politècnica De Catalunya | Omnidirectional platform and omnidirectional transporter |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN107902007A (en) * | 2017-12-01 | 2018-04-13 | 北京履坦科技有限公司 | A kind of rocking arm type suspension mechanism of high stationarity travelling box body |
| CN107902007B (en) * | 2017-12-01 | 2023-12-05 | 北京履坦科技有限公司 | Rocker arm type suspension mechanism of high-stability walking box body |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN108382146B (en) * | 2018-03-16 | 2023-06-16 | 安徽工程大学 | Combined vehicle body suspension device of all-terrain mobile robot |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN109397241A (en) * | 2018-11-13 | 2019-03-01 | 深圳供电局有限公司 | Crusing robot in a kind of Omni-mobile room |
| CN109774396A (en) * | 2019-01-15 | 2019-05-21 | 浙江大学 | A kind of mobile robot independent suspension structure |
| CN110435786A (en) * | 2019-08-15 | 2019-11-12 | 纳恩博（北京）科技有限公司 | Robot and its chassis |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
| CN115339547A (en) * | 2022-08-27 | 2022-11-15 | 松灵机器人（东莞）有限公司 | Traveling mechanism and mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105644643A (en) | Omnidirectional wheel suspension device for ground mobile robot | |
| CN105773569A (en) | Chassis system of ground mobile robot | |
| CN106393052A (en) | Wall-climbing robot | |
| CN103042000A (en) | Robot system for intelligently cleaning insulator chains | |
| CN105480316A (en) | Spherical robot capable of realizing omnidirectional movement | |
| CN206869873U (en) | A kind of 3-dof parallel robot | |
| CN203876870U (en) | Robot platform with suspended structure | |
| CN206230508U (en) | Climbing robot | |
| CN205836411U (en) | Wheeled mobile robot chassis straight line suspended shock damper | |
| CN212765544U (en) | Chassis suspension mechanism, chassis and robot | |
| CN103791205B (en) | A kind of display device rocking arm | |
| WO2018133507A1 (en) | Vertical head-shaking structure of electric fan | |
| CN110626133A (en) | Omnidirectional driving wheel set with elastic suspension function | |
| CN214689853U (en) | Transfer robot chassis based on non-independent profiling | |
| CN107160377B (en) | Device and method for testing ground three-dimensional space motion of space manipulator | |
| CN210191060U (en) | Damping mechanism of ground intelligent inspection robot and ground intelligent inspection robot | |
| CN205466315U (en) | Arm booster unit of robot | |
| CN210822514U (en) | Folding and unfolding type reducing spherical robot | |
| CN102953623A (en) | Fork arm type glass lifter and arrangement method thereof | |
| CN204202212U (en) | Light-duty self-cleaning type trough type solar heat-collector | |
| CN111853150A (en) | Bridge lateral rigid anti-seismic support system | |
| CN111846020B (en) | Ground self-adaptive suspension for four-wheel omni-directional mobile robot and using method | |
| CN106625710A (en) | Robot | |
| CN109732565B (en) | 3-RPaRR-3-RRPaR mechanism capable of three-dimensional translation | |
| CN208306791U (en) | A kind of flexible robot's joint structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160608 |