CN106005094A - Multifunctional all-terrain special vehicle - Google Patents
Multifunctional all-terrain special vehicle Download PDFInfo
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- CN106005094A CN106005094A CN201610342226.9A CN201610342226A CN106005094A CN 106005094 A CN106005094 A CN 106005094A CN 201610342226 A CN201610342226 A CN 201610342226A CN 106005094 A CN106005094 A CN 106005094A
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- 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
- B62D57/036—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 screw type, e.g. Archimedian screw
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a multifunctional all-terrain special vehicle. The multifunctional all-terrain special vehicle comprises a vehicle body, wheel assemblies, power driving devices, and transmission devices, wherein the wheel assemblies are mounted on the two sides of the vehicle body; power is provided by the power driving devices, and is transmitted to the wheel assemblies by the transmission devices; each of the wheel assemblies comprises a wheel shaft and two hubs; two ends of each of the wheel shafts are mounted at the top ends of two cantilevers through bearings; the bottom ends of the two cantilevers are connected with cantilever driving devices mounted in the vehicle body, and the cantilevers are driven to swing up and down by the cantilever driving devices; an outer ring of each of the two hubs adopts a spiral line structure and sleeves the corresponding wheel shaft, besides, an outer edge of each of the outer rings is designed into a cutting edge shape, and an inner ring of each of the hubs is designed into an embedded blade. The multifunctional all-terrain special vehicle disclosed by the invention can be applied to the fields of military wars, emergency rescue and disaster relief, polar investigation, civilian driving and the like, has the functions of enabling the height of a chassis to be changed, enabling the distance between the wheel shafts to be changed, climbing hills, surmounting obstacles, travelling in water and on land and the like, and can be used for performing detection and operation in places with complex terrains and extreme environments, such as rock and soil, desert, ice surfaces, snowfields, swamps, and deep water.
Description
Technical field
The invention belongs to multifunctional special car field, be specifically related to a kind of there is unique car body and tire construction is many
Function full landform special purpose vehicle.
Background technology
Screw propulsion car, proposes design concept early than American inventor Jacob Morath in 1868, and 1907
Year, American James and Ira Peavey produced first screw propulsion car, was that one utilizes spiral cutting
Principle, the special vehicle suitably travelled at the rough topography such as snowfield, mud ground.But due to this wheel of vehicle quality
Greatly, cause fuel consumption big, and can not travel in flat road surface, thus fail to be promoted.Screw propulsion car is extremely
Modern only in the use of minority area.
Initially proposed continuous propulsion mode by Britain inventor Richard Love.1868, American invention
Family Jacob Morath have devised the blank of this scheme: uses the vehicle of screw propulsion.Certainly do not had at that time
There is the accreditation obtaining other people.1907, American James and Ira Peavey was manufactured that this spiral
Advance car, intended at that time to help to transport the timber under felling in the Maine State with it.The spiral shell that nineteen twenty-nine designs
Rotation snowmobile----it is a kind of tractor for hauling logs in fact.It is the best that this car was proved to effect at that time,
Quite flexible, powerful, because the vehicle of screw propulsion can pass through any evil mixing snow and ooze
Bad condition.There is no concern that it is caught in as a creeper truck, because this car moving component is little, reliably
Property is the highest.In World War II, the Soviet Union the most once developed screw propulsion car, much both fell within Germany's staff.After World War II,
Soviet side continues to study screw propulsion car, and is allowed to the most practical.Soviet citizen devises SHN-1
Type all-terrain vehicle, it is born by specialized truck at ordinary times, when performing task, will by the hanging device carried on truck
It fishes from placement ground, compartment, and then it launches action the most voluntarily.It is in order to find the satellite of the jungle that drops with
And Manned reentry capsule.This vehicle of USSR is that it can in order to tackle its changeable landform and harsh climate
But smooth road surface is not walked walking rugged road surface, but, it is the heaviest, advances excessively slow, and
Its most very excessive fuel consumption.It is can easily to realize amphibious performance that screw propulsion car exceedes the advantage of creeper truck,
But spiral-tube is hollow originally, it is possible to as floating drum.In nineteen sixty, Holland inventor Joseph Jean
The screw propulsion car Amphirol that de Bakker ' s manufactures, can pass through marsh, puddle flexibly and other are multiple
Miscellaneous landform, moreover it is possible to transverse shifting, other any endless-track vehicles or wheeled vehicle all cannot be accomplished.
But current screw propulsion car owner to have a following deficiency:
1, the spiral-tube of screw propulsion car cannot alleviate weight, thus power consumption excessive fuel consumption.
2, amphibious screw propulsion car due to rely on hollow pontoon buoyancy pass through in water, it is impossible in realization
Float or sink, and propulsive efficiency is low.
3, screw propulsion car cannot change between-wheel spacing and road clearance, cannot travel in narrow space,
In flat road surface, air resistance coefficient is higher, and obstacle climbing ability relatively wheeled car is without being remarkably reinforced.
Summary of the invention
For the deficiency of existing screw propulsion car, the present invention proposes a kind of multi-functional full landform special purpose vehicle, in non-streaming
Quality face (ice face, snowfield etc.) utilizes the nonholonomic constraint between wheel and ground to realize screw propulsion, at liquid
Ground (sandy soil ground, mud ground etc.) and water utilize spiral cutting edge or the embedded blade of spiral advance, depend on wheel
The degree of depth being absorbed in.
The multi-functional full landform special purpose vehicle of the present invention, including car body, vehicle wheel component, Power Drive Unit, transmission dress
Put；Car body both sides are provided with vehicle wheel component, Power Drive Unit provide power, actuating device passed by power
It is handed to vehicle wheel component.
Described vehicle wheel component includes axletree and wheel hub；Wherein, wheel axle axis is arranged before and after car body, two ends
The top of two cantilevers it is installed on by bearing；The bottom of two cantilevers and the cantilever driving means of installation in car body
It is connected, drives cantilever to swing up and down by cantilever driving means；
Wheel hub is two, and overall outer ring all uses helix structure, is respectively fitted over axletree first half section with later half
Duan Shang；And outer ring outer rim is both designed as blade type structure；Wheel hub inner ring is designed as embedded blade, the blade root of blade
Being connected with the outer ring of wheel hub, blade tip is fixed on axletree.
It is an advantage of the current invention that:
1, the multi-functional full landform special purpose vehicle of the present invention, the full terrain environment of Structure adaptation of wheel, earth-grasping force is strong；
2, the multi-functional full landform special purpose vehicle of the present invention, the multi-functional full landform special purpose vehicle of the present invention, spiral outer ring and
The wheel hub structure of embedded blade, in conjunction with cantilever driving means, can improve propulsive efficiency in water；In vehicle wheel component
3, the multi-functional full landform special purpose vehicle of the present invention, uses the wheel hub that hollow out embedded with spiral blade is reinforced, significantly
Alleviate car body weight；
4, the multi-functional full landform special purpose vehicle of the present invention, changes car body road clearance and car by cantilever driving means
Wheel spacing, improves car body land route handling capacity.
5, the multi-functional full landform special purpose vehicle of the present invention, both sides wheel differential speed rotation can realize the yawing rotation of car body,
Posture adjustment impeller can realize car body rolling in water and elevating movement.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the multi-functional full landform special purpose vehicle of the present invention；
Fig. 2 is the vehicle body structural representation of the multi-functional full landform special purpose vehicle of the present invention；
Fig. 3 is body construction schematic diagram in the multi-functional full landform special purpose vehicle of the present invention；
Fig. 4 is car body side structural representation in the multi-functional full landform special purpose vehicle of the present invention；
Fig. 5 is cantilever driving device structure schematic diagram in the multi-functional full landform special purpose vehicle of the present invention；
Fig. 6 is that in the multi-functional full landform special purpose vehicle of the present invention, vehicle body attitude adjusts mode schematic diagram；
Fig. 7 is tensioning device structure schematic diagram in the multi-functional full landform special purpose vehicle of the present invention；
In figure:
1-car body 2-Power Drive Unit 3-cantilever driving means
4-cantilever 5-vehicle wheel component 6-actuating device
7-tensioner 101-cowling 102-impeller drainage channel
201-drives stand 202-electromotor 203-U type groove
301-protection shell 302-hangs actuator 303-suspension strut post
304-drive shaft 305-upper mounting plate 306-lower installation board
307-damping spring 308-cantilever installing plate 301a-protects side plate
301b-protects top board 301c-base plate 301d-lug
501-axletree 502-wheel hub 503-blade
601-driving wheel 602-drive pulley 603-the first drive sprocket
604-the second drive sprocket 701-regulating wheel 702-tension wheel shaft
703-extension spring
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
The multi-functional full landform special purpose vehicle of the present invention, including car body 1, Power Drive Unit 2, cantilever driving means
3, cantilever 4, vehicle wheel component 5 and actuating device 6, as shown in Figure 1 and Figure 2.
Described car body 1 uses for reference hull shape feature for imitative ship shape polyhedron shell, bottom, has before stablizing in water
Enter and the cross-country ability kept in obscurity in land route, be designed with along outward as it is shown on figure 3, car body 1 rear portion is positioned at upper surface both sides
The fusiformis cowling 101 that shell is axial arranged, to reduce air resistance coefficient, can promote car body 1 internal simultaneously
The heat-sinking capability of electromotor.Portion's back end design has L-type impeller drainage channel 102 the most in the enclosure.Impeller is arranged
Aquaporin 102 two ends connect with rear end face with upper surface of outer cover respectively；And impeller drainage channel 102 and upper surface
Connectivity part is near two cowling 101 rear ends.In impeller drainage channel 102, impeller of raising wages is installed,
Posture adjustment impeller is driven by impeller-driven electromotor and rotates, and changes the car body 1 attitude in water, it is achieved the present invention is many
Function full landform special purpose vehicle omni-directional movement in water.
Dividing both sides, face equally in car body 1 along the longitudinal direction vertical, identical mounting means is symmetrically installed with a set of dynamic
Force driving device 2, two set cantilever driving means 4 one groups of wheels 5 of 3, two cantilevers and a set of actuating device
6。
Below to car body vertically in divide equally the Power Drive Unit 2 of side, face, cantilever driving means 3, cantilever 4,
Wheel 5 and the structure of actuating device 6 and mounting means illustrate, as shown in Figure 4:
Described Power Drive Unit 2 includes driving stand 201 and electromotor 202.Wherein, stand 201 is driven
For platy structure, being horizontally disposed with, be positioned at car body 1 internal, rear and front end is fixed with car body 1 front and back end respectively.
Described electromotor 202 uses motor, is positioned at car body 1 internal, and is positioned at below cowling 101, logical
Cross engine bearer to be installed on driving stand 201, and make engine output shaft axis set along car body 1 fore-and-aft direction
Put.Can be used to impeller drive motor is installed on the upper surface of above-mentioned driving stand 201 rear end.
It is internal that two set cantilever driving means 3 are positioned at car body 1, is respectively arranged at driving stand 201 rear and front end,
Including protection shell 301, hang actuator 302, suspension strut post 303, drive shaft 304, upper mounting plate
305, lower installation board 306 and damping spring, as shown in Figure 5.Wherein, protection shell 301 has circumference three
Protection side plate 301a on individual face, and protection top board 301b and protection base plate 301c.Protection shell 301
Internally installed suspension actuator 302, hangs actuator 302 and uses driving steering wheel；Simultaneously at protection top board 301b
With the lug 301d with perforation that protection base plate 301c circumference three limit Position Design have symmetry.Suspension strut post
303 is three, is each passed through perforation symmetrical on protection top board 301b and protection base plate 301c, and two ends are divided
It is not fixed on the upper mounting plate 305 and lower installation board 306 being parallel to each other.On three suspension strut posts 303,
It is positioned between protection top board 301b and upper mounting plate 305, and overlaps between protection base plate 301c and lower installation board 306
There is damping spring 307.Two set cantilever driving means 3 of said structure, are fixed on by upper mounting plate 305 and drive
Dynamic stand 201 bottom surface, is fixed on bottom car body 1 by lower installation board 305, and makes suspension actuator 302
Output shaft axis arrange along car body 1 fore-and-aft direction, and coaxially.It is internal that drive shaft 304 is positioned at car body 1, with
The output shaft hanging actuator 302 is coaxially disposed, and two ends are fixedly installed in two set cantilever driving means 3 respectively
In suspension actuator 302 output shaft on；It is designed with cantilever installing plate 308 at drive shaft 304 two ends simultaneously,
For installing cantilever 5.
It is outside that said two cantilever 4 is positioned at car body 1, uses triangular-section frame structure, and bottom passes car body
On sidewall, the breach of design, is fixedly installed in the rotation of drive shaft 304 end in two set cantilever driving means 3 respectively
On arm installing plate 308, top is used for installing wheel assembly 6.
Described vehicle wheel component 5 includes axletree 501 and wheel hub 502.Wherein, axletree 501 axis is along car body
Arranging before and after 1, two ends are installed on the top of two cantilevers 4 by bearing.Wheel hub 502 is two, overall
Outer ring all uses helix structure, is respectively fitted on axletree 501 first half section and second half section；And outer ring outer rim is equal
It is designed as blade type structure.Wheel hub 502 inner ring is designed as embedded blade 503, and blade is along the spiral of wheel hub 502
The equiangularly spaced arrangement of line；Blade 503 surface be the characteristic Design of the helix according to wheel hub 502 straight burr
Face, blade root is connected with the outer ring of wheel hub 502, and blade tip is fixed on axletree 501.Make two wheel hubs 502
It is respectively anterior wheel hub 502a and rear portion wheel hub 502b；Wherein, the spiral of anterior front end, wheel hub 502a outer ring
Line structure radial design is for be gradually increased from front to back, and remainder helix radius is equal, and with rear portion wheel hub
502b outer ring helix structure radius is equal.
Described actuating device 6 includes first level transmission device and secondary transmission device.Wherein, first level transmission device bag
Include driving wheel 601, drive pulley 602 and driving belt.Driving wheel 601 is fixedly installed in Power Drive Unit
In 2 on electromotor 202 output shaft；Drive pulley 602 fixedly mounts and is installed on cantilever driving means by bearing
In 3 in the middle part of drive shaft 304；It is socketed by driving belt between driving wheel 304 and drive pulley 602.Two grades of biographies
Dynamic device includes first drive sprocket the 603, second drive sprocket 604 and driving chain.Wherein.First transmission
Sprocket wheel 603 is enclosed within cantilever driving means 3 in the middle part of drive shaft 304, and is fixed on driving wheel 304；Second
Drive sprocket 604 is fixedly installed in vehicle wheel component 5 in the middle part of axletree 501.First drive sprocket 603 and
It is socketed by driving chain between two drive sprockets 604.
The multi-functional full landform special purpose vehicle of said structure, is provided by electromotor 202 in Power Drive Unit 2 and pushes away
Precession power, power is transferred to secondary driving system through first level transmission device, finally by secondary driving system by power
It is transferred to axletree 501, and then drives the rotation of two wheel hubs 502.By wheel hub 502 in vehicle wheel component 2
Helix feature, make wheel hub 502 can rotate around axletree 501 centrage, now wheel hub 502 outer ring outer rim
The design of knife-edge structure, make wheel hub 502 and ground effects produce the sliding rolling motion with nonholonomic constraint, and
Produce the absolute velocity along blade type structure direction.The pace of the multi-functional full landform special purpose vehicle of the present invention (is led
Even speed) direction is parallel with helix structure axis, and size depends on the spiral shell of wheel hub 502 outer ring helix structure
Swing angle；The rotational line speed (relative velocity) of wheel hub 502 is vertical with helix structure axis direction.Wheel group
The minor radius helix structure of part 5 middle front part wheel hub 502a outer ring Front-end Design, can realize multi-functional full landform
The obstacle climbing ability of special purpose vehicle.Embedded blade 503 design in wheel hub 502 realizes the propelling to vehicle wheel component 5 and makees
With, supporting wheel hub 502 outer ring simultaneously.
The multi-functional full landform special purpose vehicle of the present invention carries out full landform in unprecedented mode and passes through, and not only can gather around
There is bigger earth-grasping force to pass through landform, and the structure of wheel be simultaneously suitable for liquid landform and non-streaming quality shape,
Can realize advancing (skates or skidding principle) under the effect of nonholonomic constraint in landform such as ice face, snowfields,
The landform such as sandy soil, earth is designed in spiral cutting by helix structure and the blade type structure of wheel hub 502 outer ring
Effect under realize advancing, in landform such as marshes by the embedded blade 503 on wheel hub 502 at the work of propulsive thrust
Advance with lower realization；And rotate realization rotation by controlling the differential of two vehicle wheel components 5 or turn.
Many merits full landform energy special purpose vehicle of the present invention, during advancing, can make car by cantilever driving means 3
The synchronization of body 1 homonymy cantilever 4 swings up and down, and then changes car body 1 road clearance, the wheel of car body 1 both sides
The wheelbase of assembly 5, as shown in Figure 6, it is achieved the adjustment of car body 1 attitude, makes multi-functional full landform special purpose vehicle have
Standby higher obstacle detouring, avoidance ability, to adapt to irregular road surface, prevent rollover.Meanwhile, cantilever drives
Damping spring 307 in dynamic device 3 also can absorb from road in multi-functional full landform special purpose vehicle traveling process
The concussion that car body 1 is caused by the impact in face and water flow fluctuation, plays cushioning effect.
Due to the cushioning effect of the cantilever driving means 3 in the present invention, driving wheel in primary transmission system can be caused
Distance between 304 and drive pulley 602 changes, and causes getting loose of driving belt between the two；Therefore this
Tensioner 7 it is also devised with in bright, as it is shown in fig. 7, comprises regulating wheel 701, tension wheel shaft 702 and extension spring
703；Design a U-shaped groove 203 in the middle part of stand 201 by Power Drive Unit 2 drives simultaneously, and at U
The symmetrical chute 204 having level on the two side of type groove 203.In tensioner 7, regulating wheel 701 leads to
Crossing bearing to be arranged on tension wheel shaft 702, tension wheel shaft 702 two ends are respectively protruding into the both sides of U-shaped groove 203
In chute 204 on wall, axially and position between chute 204, move along chute 204 only；U-shaped groove 203
Being also equipped with fixed plate 205 between two side, fixing axle 205 is parallel with tension wheel shaft 702 axis, and is positioned at same
On one horizontal plane；Fixing axle 205 is used for installing extension spring 703.Described extension spring 703 is two, lays respectively at and opens
Bearing up pulley 701 both sides, one end is fixed on tension wheel shaft 702, and the other end is fixed on U-shaped groove 203 end peace
In the fixed plate of dress on upper mounted plate 205.Thus, driving belt is socketed simultaneously regulating wheel 701, drive
304 with driving wheel 601；And then by extension spring 703 make regulating wheel 701 have all the time towards car body 1 vertically in
The movement tendency of heart plane, makes driving belt be in tension all the time.
Claims (8)
1. a multi-functional full landform special purpose vehicle, including car body, vehicle wheel component, Power Drive Unit, actuating device；Car body both sides are provided with vehicle wheel component, Power Drive Unit provide power, actuating device power is transferred to vehicle wheel component；It is characterized in that: described vehicle wheel component includes axletree and wheel hub；
Wheel axle axis is arranged before and after car body, and two ends are installed on the top of two cantilevers by bearing；The bottom of two cantilevers is connected with the cantilever driving means installed in car body, drives cantilever to swing up and down by cantilever driving means；
Wheel hub is two, and overall outer ring all uses helix structure, is respectively fitted on axletree first half section and second half section；And outer ring outer rim is both designed as blade type structure；Wheel hub inner ring is designed as embedded blade, and the blade root of blade is connected with the outer ring of wheel hub, and blade tip is fixed on axletree.
2. a kind of multi-functional full landform special purpose vehicle, it is characterised in that: blade is along the equiangularly spaced arrangement of helix of wheel hub；Blade surface be the characteristic Design of the helix according to wheel hub ruled surface.
3. a kind of multi-functional full landform special purpose vehicle, it is characterised in that: the helix structure radial design of the front end, wheel hub outer ring in axletree leading portion first half section is for be gradually increased from front to back.
4. as claimed in claim 1 a kind of multi-functional full landform special purpose vehicle, it is characterised in that: car body homonymy there are two cantilever driving means, on the driving stand that cantilever driving means is arranged in installing car body, including protection shell, hang actuator and drive shaft；Wherein, hang actuator and be installed in protection shell, and output shaft is arranged along car body fore-and-aft direction；Output shaft and drive shaft two ends that in two cantilever driving means of car body homonymy, suspension start rises are connected, and drive shaft two ends are designed with cantilever installing plate, are connected respectively at car body homonymy two cantilever bottom.
5. a kind of multi-functional full landform special purpose vehicle, it is characterised in that: cantilever driving means also includes suspension strut post, drive shaft, upper mounting plate, lower installation board and damping spring；Wherein, the perforation of design in protection top board circumference is lived in suspension strut, and top and bottom are respectively arranged on upper mounting plate and lower installation board；On suspension strut post, it is positioned between protection outer casing top surface and upper mounting plate, and is cased with damping spring between protection enclosure bottom and lower installation board.
6. a kind of multi-functional full landform special purpose vehicle, it is characterised in that: actuating device includes first level transmission device and secondary transmission device；Wherein, first level transmission device includes driving wheel, drive pulley and driving belt；Driving wheel is fixedly installed in Power Drive Unit on engine output shaft；Drive pulley fixed installation is installed in cantilever driving means in the middle part of drive shaft by bearing；It is socketed by driving belt between driving wheel and drive pulley；Secondary transmission device includes the first drive sprocket, the second drive sprocket and driving chain；Wherein.First drive sprocket is enclosed within cantilever driving means in the middle part of drive shaft, and is fixed on driving wheel；Second drive sprocket is fixedly installed in vehicle wheel component in the middle part of axletree；It is socketed by driving chain between the first drive sprocket and the second drive sprocket 604.
7. a kind of multi-functional full landform special purpose vehicle, it is characterised in that: actuating device also has tensioner；Tensioner includes regulating wheel and extension spring；Driving belt is socketed simultaneously regulating wheel, drive and driving wheel；And then make regulating wheel remain the pulling force to driving belt by extension spring.
8. a kind of multi-functional full landform special purpose vehicle, it is characterized in that: car body is imitative ship shape polyhedron shell, bottom is hull shape, car body upper surface design cowling, shell rear portion is also devised with impeller drainage channel, being provided with, in impeller drainage channel, impeller of raising wages, impeller of raising wages is driven by impeller-driven electromotor and rotates.
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| CN201610342226.9A CN106005094B (en) | 2016-05-20 | 2016-05-20 | A kind of multi-functional full landform special purpose vehicle |
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| CN201610342226.9A CN106005094B (en) | 2016-05-20 | 2016-05-20 | A kind of multi-functional full landform special purpose vehicle |
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Cited By (7)
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|---|---|---|---|---|
| CN106427389A (en) * | 2016-11-22 | 2017-02-22 | 信毅 | Spiral wheel high in passing capability and usage method thereof |
| CN106892017A (en) * | 2017-03-10 | 2017-06-27 | 江苏中宜生态土研究院有限公司 | A kind of bipacking-auger drives closed conduit walking robot |
| CN107806120A (en) * | 2017-11-07 | 2018-03-16 | 昆明理工大学 | A kind of relief car |
| CN109649526A (en) * | 2019-01-10 | 2019-04-19 | 深圳市博铭维智能科技有限公司 | A kind of full landform helical detector |
| CN110741801A (en) * | 2019-09-16 | 2020-02-04 | 江苏大学 | Harvester chassis walking device and harvester |
| CN113715568A (en) * | 2021-09-07 | 2021-11-30 | 慈溪协能新能源科技有限公司 | Unilateral binocular many spirals car |
| CN114074722A (en) * | 2020-08-19 | 2022-02-22 | 中南大学 | All-terrain mobile robot based on spiral pushing |
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| CN110741801A (en) * | 2019-09-16 | 2020-02-04 | 江苏大学 | Harvester chassis walking device and harvester |
| CN114074722A (en) * | 2020-08-19 | 2022-02-22 | 中南大学 | All-terrain mobile robot based on spiral pushing |
| CN113715568A (en) * | 2021-09-07 | 2021-11-30 | 慈溪协能新能源科技有限公司 | Unilateral binocular many spirals car |
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| CN106005094B (en) | 2018-11-27 |
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