CN118545167B - Two-wheeled agricultural robot chassis - Google Patents
Two-wheeled agricultural robot chassisInfo
- Publication number
- CN118545167B CN118545167B CN202410940401.9A CN202410940401A CN118545167B CN 118545167 B CN118545167 B CN 118545167B CN 202410940401 A CN202410940401 A CN 202410940401A CN 118545167 B CN118545167 B CN 118545167B
- Authority
- CN
- China
- Prior art keywords
- auxiliary wheel
- connecting plate
- assembly
- force sensor
- motor
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
本发明指的是一种两轮农业机器人底盘，适用于运动范围受限的温室大棚内，具有结构紧凑，安装方便，控制简单的优点。该底盘包括底盘框架、驱动模组连接板、前转向驱动模组、后转向驱动模组。前转向驱动模组包括一体化关节、轮胎支架、轮毂电机、辅助轮组件和力传感器。其中辅助轮组件包括电机、齿轮、丝杆等部件，安装在轮胎支架上。这种底盘设计还特别使用了滚珠丝杆及滚珠丝杆螺母、直流无刷电机和多维力传感器，以提供高效动力和精确力量测量。除了在力传感器与轮胎支架之间安装了减震橡胶块，底盘还配备了减震组件，包括导向杆、弹簧和加长直线轴承等，这些部件通过传感器连接板连接，有效提升了机器人运动过程的稳定性。
The present invention refers to a two-wheeled agricultural robot chassis, which is suitable for use in greenhouses with limited range of motion and has the advantages of compact structure, easy installation and simple control. The chassis includes a chassis frame, a drive module connecting plate, a front steering drive module, and a rear steering drive module. The front steering drive module includes an integrated joint, a tire bracket, a hub motor, an auxiliary wheel assembly and a force sensor. The auxiliary wheel assembly includes components such as a motor, gears, and a screw, which are installed on the tire bracket. This chassis design also specifically uses a ball screw and a ball screw nut, a brushless DC motor and a multi-dimensional force sensor to provide efficient power and precise force measurement. In addition to installing a shock-absorbing rubber block between the force sensor and the tire bracket, the chassis is also equipped with a shock-absorbing assembly, including a guide rod, a spring and an extended linear bearing. These components are connected through a sensor connecting plate, which effectively improves the stability of the robot's movement process.
Description
Technical Field
The invention relates to the field of agricultural robots, in particular to a chassis of a two-wheeled agricultural robot.
Background
Most of the agricultural robots on the market are in four-wheel drive or two-wheel drive mode, and most of the agricultural robots are used for carrying out agricultural work across furrows, and in a greenhouse, the action is inflexible, so that the two-wheel robots are arranged, but the two-wheel robots need to be self-balancing, the whole structure is complex, and the production cost is high.
The application number is CN2023104290534, an automatic plant protection robot is disclosed, a transverse two-wheel structure is adopted, operation is needed to be carried out by crossing ridges, and the robot is not suitable for a greenhouse with limited movement range.
The application number is CN2018103050918, a two-wheeled robot with multiple movement modes is disclosed, the flywheel is adopted to ensure the self-balance of the two-wheeled robot during movement, the flywheel has high cost and high use requirement, and the whole mechanism is complex.
There is therefore a need for a two-wheeled agricultural robot chassis that solves the above-mentioned technical problems.
Disclosure of Invention
The invention aims to provide a chassis of a two-wheeled agricultural robot, wherein an auxiliary wheel assembly is integrated on a tire support, and the assembly comprises a lifting mechanism, a sensor and a damping mechanism, so that an efficient, stable and safe vehicle body steering structure is realized.
The front steering driving module comprises an integrated joint, a tire support, a hub motor, an auxiliary wheel assembly, a force sensor and a damping assembly, wherein the driving module connecting plate is respectively fixed at the front end and the rear end of the chassis frame, the front steering driving module is connected with the driving module connecting plate through the integrated joint, the integrated joint is fixed on the tire support, the hub motor is arranged on the tire support, the auxiliary wheel assembly comprises two groups of motors, an auxiliary wheel connecting plate, gears, screw rods, screw nuts, guide rails, guide rail sliding blocks, bearing blocks, auxiliary plates, auxiliary wheels and force sensor connecting plates, the auxiliary wheel assembly is symmetrically arranged on the tire support, the motors are arranged on the auxiliary wheel connecting plate, the gears are respectively arranged on a motor shaft and the screw rods, the bearing blocks are fixed on the auxiliary wheel connecting plate, the guide rails are fixed on the auxiliary wheel connecting plate, the guide rail sliding blocks are arranged on the guide rails, the screw rods and the screw nuts are arranged on the auxiliary wheel connecting plate through the bearing blocks, the auxiliary plates are connected with the auxiliary wheel connecting plate through the screw rods and the guide rail sliding blocks, the auxiliary wheel sliding blocks are arranged on the guide rails, the auxiliary wheel connecting plate, the auxiliary wheel sliding blocks are connected with the auxiliary wheel connecting plate, the auxiliary wheel connecting plate is connected with the auxiliary wheel, and the auxiliary wheel connecting plate is connected with the required front steering driving module connecting plate, and the front steering driving module is connected with the tire connecting plate, and the auxiliary wheel connecting plate is connected with the required to be connected with the front steering driving module.
Preferably, the screw and the screw nut are a ball screw and a ball screw nut, the motor is a motor, and the force sensor is a one-dimensional force sensor, a two-dimensional force sensor or a three-dimensional force sensor.
Preferably, the tire support also comprises a rubber block, and the rubber block is arranged between the force sensor and the tire support to play a role in shock absorption.
The tire driving device is characterized by further comprising a damping component, wherein the damping component comprises four groups of guide rod fixing seats, guide rods, springs, lengthened linear bearings and a force sensor connecting plate B, the four groups of damping components are symmetrically arranged on the driving module main body left and right respectively, the guide rod fixing seats are fixed on the tire support, the guide rods are fixed on the guide rod fixing seats, the springs are sleeved on the guide rods, and the lengthened linear bearings are sleeved on the guide rods.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a diagram showing the effect of the second embodiment of the present invention.
Fig. 2 is an axial side effect diagram of a front steering drive module according to a second embodiment of the present invention.
Fig. 3 is an exploded view of a front steering drive module according to an embodiment of the present invention.
Fig. 4 is an exploded view of a front steering drive module according to a second embodiment of the present invention.
1-4, Chassis frame, 2, drive module connection plate, 3, front steering drive module, 4, rear steering drive module, 31, integral joint, 32, tire support, 33, in-wheel motor, 34, auxiliary wheel assembly, 35, force sensor, 36, rubber block, 37, shock absorbing assembly, 341, motor, 342, auxiliary wheel connection plate, 343, gear, 344, ball screw, 345, ball screw nut, 346, guide rail, 347, guide rail slide, 348, bearing seat, 349, auxiliary plate, 350, auxiliary wheel, 351, force sensor connection plate A, 371, guide bar fixing seat, 372, guide bar, 373, spring, 374, lengthened linear bearing, 375, force sensor connection plate B.
Detailed Description
In order to make the technical contents of the present invention more clearly understood, the detailed description of the embodiments will be given.
It should be noted that when an element is referred to as being "fixed" or "disposed" or "mounted" on "another element, it can be directly or indirectly connected to the other element, or it can be directly or indirectly connected to the other element, the terms" upper "," lower "," left "," right "," front "," rear "," vertical "," horizontal "," top "," bottom "," inner "," outer ", etc. refer to the directions or positions shown in the drawings, are for convenience of description only, and are not to be construed as limiting the present technical solution, the terms" first "," second "are only used for convenience of description, and are not to be construed as indicating or implying relative importance or implying any particular amount of technical features, and the terms" plurality "mean two or more unless otherwise specifically limited.
Example one
Referring to fig. 1 to 3, fig. 1 to 3 show a two-wheeled agricultural robot chassis, which comprises a chassis frame 1, a driving module connecting plate 2, a front steering driving module 3 and a rear steering driving module 4; the front steering driving module 3 comprises an integrated joint 31, a tire bracket 32, a hub motor 33, an auxiliary wheel assembly 34, a force sensor 35 and a shock absorption assembly 36; the driving module connecting plate 2 is fixed on the chassis frame 1, the front steering driving module 3 is connected with the driving module connecting plate 2 through the integrated joint 31, the integrated joint 31 is fixed on the tire bracket 32, the front steering driving module 3 is steered through the integrated joint 31, the hub motor 33 is arranged on the tire bracket 32, the wheel bracket 32 directly drives the whole robot chassis to move through controlling the hub motor 33, two sides of the tire bracket 32 are surrounded by three surrounding baffles, the auxiliary wheel assembly 34 is surrounded, the rigidity of the tire bracket 32 is increased, the integral aesthetic property is also improved, the rubber block 36 is fixed on the tire bracket 32, the force sensor 35 is fixed with the rubber block 36, when the auxiliary wheel assembly 34 meets the obstacle or is concave, the rubber block 36 firstly plays a certain buffering role at the moment of contact, the stability of the chassis during movement is ensured, the auxiliary wheel assembly 34 comprises a motor 341, an auxiliary wheel connecting plate 342, a gear 343, a ball screw 344, a ball screw nut 345, a guide rail 346, a guide rail slider 347, a bearing seat 349, an auxiliary wheel 350 and a force sensor connecting plate 351, the auxiliary wheel assembly 34 is arranged on the tire bracket 32 symmetrically, the motor shaft 341 is arranged on the motor shaft, the ball screw 342 is arranged on the auxiliary connecting plate 343, and the ball screw wheel assembly 342 is respectively meshed with the gear 343, the motor 341 drives the gear 343 to rotate to drive the ball screw nut 345 to move up and down, the bearing seat 348 is fixed on the auxiliary wheel connecting plate 342, the guide rail 346 is fixed on the auxiliary wheel connecting plate 342, the guide rail slide block 347 is mounted on the guide rail 346, the ball screw 344 and the screw nut 345 are mounted on the auxiliary wheel connecting plate 342 through the bearing seat 348, the auxiliary plate 349 is connected with the auxiliary wheel connecting plate 342 through the ball screw nut 345 and the guide rail slide block 347, the auxiliary plate 349 moves along with the ball screw nut 345 on the guide rail 346, the auxiliary wheel 350 is mounted on the auxiliary plate 349, the auxiliary wheel assembly 34 is used for assisting the chassis to fall down when the chassis is stationary and stabilizing when the chassis moves, the force sensor connecting plate 351 is fixed on the auxiliary wheel connecting plate 342, the auxiliary wheel assembly is connected with the force sensor 35 through the force sensor connecting plate 351, and required parts of the rear steering driving module 4 are the same as those of the front steering driving module 3.
When the chassis encounters an obstacle or is sunken in the moving process, the rubber block 36 firstly plays a role in damping, the force sensor 35 detects that the force changes, the motor 341 is controlled to rotate to drive the ball screw 344, and the ball screw nut 345 arranged on the ball screw 344 drives the auxiliary plate 349 to move up and down along with the rotation of the ball screw 344 to ensure the stability of the chassis in moving.
Example two
Referring to fig. 4, the second embodiment is a modification of the first embodiment, and basically the same reference numerals are used for the same components as those of the specific embodiment shown in fig. 1 to 3, and compared with the first embodiment, the second embodiment includes a damper assembly 37, the damper assembly 37 includes a guide rod fixing seat 371, a guide rod 372, a spring 373, an elongated linear bearing 374, and a force sensor connecting plate b 375, the damper assembly includes two groups, which are symmetrically mounted on the tire support 32, the guide fixing seat 371 is fixed on the tire support 32, the guide rod 372 is fixed on the guide rod fixing seat 371, the spring 373 is sleeved on the guide rod 372, and the elongated linear bearing 374 is sleeved on the guide rod 372. When the chassis is in the moving process, the auxiliary wheel 350 bumps against the obstacle, the auxiliary wheel assembly 34 can transmit force to the shock absorption assembly 37 at the moment of being stressed, the motor has a response process, and the spring 373 compresses on the guide rod 372 to buffer the auxiliary wheel assembly, so that the auxiliary wheel is prevented from being subjected to excessive impact force, the steering structure of the chassis is optimized, the influence of road impact on the auxiliary wheel and the chassis is reduced, and the stability and safety of the chassis are further improved.
The mounting auxiliary wheel connection plate 342 of the guide rail 346 has a U-shaped structure, and the mounting auxiliary plate 349 of the guide rail slider 347 has a U-shaped structure as well. When the two are combined, a closed structure is formed, and the whole has great strength. This unique structural design not only increases the load carrying capacity of the component itself, but also enhances the stability of the overall auxiliary wheel assembly.
The auxiliary wheel assembly is positioned on two sides of the hub motor, the space is compact, the height of the auxiliary wheel assembly does not exceed the height of the tire support, the lifting mechanism of the auxiliary wheel assembly does not touch the chassis frame during tire steering, the height and the width of the chassis frame are not increased due to the influence of the auxiliary wheel mechanism, the design ensures that all parts cooperatively operate in a limited space through reasonably arranging and optimizing the connection mode among all parts by integrating the damping assembly and the auxiliary wheel assembly, the effective buffer of the auxiliary wheel is realized, the steering structure of the chassis is optimized, the influence of road surface impact on the whole auxiliary wheel and the chassis is reduced, and the stability and the safety of the chassis are further improved. In addition, the integrated design also enables the structure of the chassis to be more compact, lowers the gravity center of the chassis, improves the control performance of the chassis, and enhances the adaptability of the chassis under different road conditions.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (2)
1. A chassis of a two-wheeled agricultural robot is characterized by comprising a chassis frame, a driving module connecting plate, a front steering driving module and a rear steering driving module, wherein the front steering driving module comprises an integrated joint, a tire support, a hub motor, an auxiliary wheel assembly, a force sensor and a damping assembly, the structural volume and the movement range of the front steering driving module are not more than the height of the tire support, the driving module connecting plate is respectively fixed at the front end and the rear end of the chassis frame, the front steering driving module is connected with the driving module connecting plate through the integrated joint, the integrated joint is fixed on the tire support, the hub motor is mounted on the tire support, three-sided surrounding blocks are arranged at two sides of the tire support and enclose the auxiliary wheel assembly, the auxiliary wheel assembly comprises a motor, an auxiliary wheel connecting plate, two gears, a screw rod, screw nuts, a guide rail slider, a bearing seat, an auxiliary plate, an auxiliary wheel and a force sensor connecting plate, the auxiliary wheel assembly is arranged on the tire support in total, the center of the two groups, the motor is symmetrically mounted on the tire support, the back of the auxiliary wheel connecting plate, the gear bearing seat is respectively mounted on a motor shaft and a motor, the guide wire rod is respectively mounted on the motor shaft, the guide rail is fixedly mounted on the connecting plate, the guide wire rod is fixedly connected with the auxiliary wheel connecting plate, the auxiliary wheel connecting plate is connected with the auxiliary wheel through the guide rail nut, the auxiliary wheel connecting plate, the auxiliary wheel assembly is mounted on the auxiliary wheel connecting plate, the auxiliary wheel seat and the auxiliary wheel assembly, the auxiliary wheel assembly is connected with the auxiliary wheel seat and the auxiliary wheel and the damping assembly through the auxiliary wheel connecting plate, the auxiliary wheel and the auxiliary frame, the vibration sensor and the vibration, the shock-absorbing assembly comprises two groups of shock-absorbing assemblies, a guide rod, a spring, an elongated linear bearing and a sensor connecting plate B, wherein the two groups of shock-absorbing assemblies are symmetrically arranged on a driving module main body left and right respectively;
The motor is a direct current brushless motor, and the force sensor is a one-dimensional force sensor, a two-dimensional force sensor or a three-dimensional force sensor;
The tire support is characterized by further comprising a rubber block, wherein the rubber block is arranged between the force sensor and the tire support and plays a role in damping.
2. The two-wheeled agricultural robot chassis according to claim 1, wherein the auxiliary wheel assembly is spatially juxtaposed with the shock absorbing assembly, the main body of the auxiliary wheel assembly is formed of two "U" -shaped parts of an auxiliary wheel connecting plate and an auxiliary plate, the rail slider is mounted on the side of the auxiliary plate, the ball screw and the ball screw nut are mounted inside a cavity formed by the auxiliary wheel connecting plate and the auxiliary plate, the spring is mounted above the shock absorbing assembly, the force sensor is mounted below the shock absorbing assembly, and the motor is mounted on the back of the auxiliary wheel connecting plate and is disposed between the two springs of the shock absorbing assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410940401.9A CN118545167B (en) | 2024-07-15 | 2024-07-15 | Two-wheeled agricultural robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410940401.9A CN118545167B (en) | 2024-07-15 | 2024-07-15 | Two-wheeled agricultural robot chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118545167A CN118545167A (en) | 2024-08-27 |
| CN118545167B true CN118545167B (en) | 2025-10-10 |
Family
ID=92450258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410940401.9A Active CN118545167B (en) | 2024-07-15 | 2024-07-15 | Two-wheeled agricultural robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118545167B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0579605U (en) * | 1992-03-27 | 1993-10-29 | 義孝 三神 | Equilibrium equipment for pest control equipment |
| CN1784334A (en) * | 2002-11-18 | 2006-06-07 | 高峰技术公司 | Monorail vehicle and its control method and control device |
| CN108454725A (en) * | 2018-04-08 | 2018-08-28 | 五邑大学 | A kind of coaxial two wheels robot with multi-motion modes |
| CN217125020U (en) * | 2022-01-20 | 2022-08-05 | 天津博众运动器材股份有限公司 | Multifunctional bicycle front fork |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105123651A (en) * | 2015-07-14 | 2015-12-09 | 合肥多加农业科技有限公司 | Novel agricultural plant protection car |
| CN106240705B (en) * | 2016-09-06 | 2019-09-24 | 上海应用技术大学 | A kind of front and back double-wheel self-balancing trolley based on grey neural network prediction algorithm |
| CN108327837A (en) * | 2018-04-28 | 2018-07-27 | 苏州智泉农业科技有限公司 | A kind of self-balancing two-wheeled agricultural vehicle |
| CN208393523U (en) * | 2018-06-11 | 2019-01-18 | 天津市嘉实自行车有限公司 | A kind of electric vehicle auxiliary balance device |
| CN208746123U (en) * | 2018-08-21 | 2019-04-16 | 坎德拉（深圳）科技创新有限公司 | A kind of self-balancing vehicle |
| CN211076139U (en) * | 2019-11-29 | 2020-07-24 | 浙江普灵智能控制有限公司 | Intelligent booking electric vehicle networking automatic driving system |
| CN112977680A (en) * | 2021-02-05 | 2021-06-18 | 福建省贝思瑞婴童用品有限公司 | Amusement and body-building interesting vehicle for children and using method thereof |
-
2024
- 2024-07-15 CN CN202410940401.9A patent/CN118545167B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0579605U (en) * | 1992-03-27 | 1993-10-29 | 義孝 三神 | Equilibrium equipment for pest control equipment |
| CN1784334A (en) * | 2002-11-18 | 2006-06-07 | 高峰技术公司 | Monorail vehicle and its control method and control device |
| CN108454725A (en) * | 2018-04-08 | 2018-08-28 | 五邑大学 | A kind of coaxial two wheels robot with multi-motion modes |
| CN217125020U (en) * | 2022-01-20 | 2022-08-05 | 天津博众运动器材股份有限公司 | Multifunctional bicycle front fork |
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| CN118545167A (en) | 2024-08-27 |
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