CN113246673A - Crawler-type action system applied to amphibious unmanned vehicle - Google Patents
Crawler-type action system applied to amphibious unmanned vehicle Download PDFInfo
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- CN113246673A CN113246673A CN202110688614.3A CN202110688614A CN113246673A CN 113246673 A CN113246673 A CN 113246673A CN 202110688614 A CN202110688614 A CN 202110688614A CN 113246673 A CN113246673 A CN 113246673A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 238000004806 packaging method and process Methods 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims 6
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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Abstract
The invention provides a crawler-type action system applied to an amphibious unmanned vehicle, which comprises a transmission device, a packaging device and a tensioning device, wherein the packaging device and the tensioning device are installed on the transmission device; the tensioning device comprises a pawl mechanism, a guide mechanism and a tensioning wheel set, the guide mechanism is mounted on the transmission device, the tensioning wheel set is connected with the guide mechanism, one end of the pawl mechanism is mounted on the packaging device, and the other end of the pawl mechanism is meshed with the guide mechanism; the transmission device is used for driving the action system to work, the packaging device is used for protecting the action system and supporting the transmission device, and the pawl mechanism, the guide mechanism and the tensioning wheel set in the tensioning device can automatically adjust the tensioning degree of the crawler in real time, prevent the crawler from rebounding and effectively improve the applicability of the crawler-type action system.
Description
Technical Field
The invention relates to the technical field of amphibious platforms, in particular to a crawler-type action system applied to an amphibious unmanned vehicle.
Background
In recent years, a large amount of capital is invested at home and abroad for production research and development of amphibious unmanned vehicles in both civil and military fields. The amphibious unmanned vehicle is widely applied to the fields of entertainment activities, rescue and relief work, water area security inspection, anti-terrorism riot removal, beach rescue and landing and the like, and realizes seamless butt joint of two working media of water and land. At present, most of action systems of amphibious unmanned vehicles adopt crawler belts, and in order to enable the amphibious unmanned vehicles to achieve good running performance, the crawler belts of the amphibious unmanned vehicles need to be reasonably designed.
CN 211869535U discloses a track tensioning device, which integrally adopts screw type tensioning, so that the tensioning force between a track and a guide wheel can be conveniently adjusted, and the track can be prevented from rebounding due to the existence of a worm gear mechanism, but the tensioning degree of the track needs to be manually adjusted; CN 111942489 a discloses a track tensioning device and a track type traveling device, wherein the designed track tensioning device can adjust the tensioning degree of the track in real time to maintain the friction between the track tensioning device and the slope plane, and can automatically adjust the tightness of the track, but when the track tensioning device works in an environment with poor ecology, the track cannot be effectively ensured to be in a tensioning state.
Therefore, it is desirable to provide a device that can automatically adjust the tension of the track in real time and prevent track rebound.
Disclosure of Invention
In order to solve the problems, the invention provides the crawler-type action system applied to the amphibious unmanned vehicle, the pawl mechanism, the guide mechanism and the tensioning wheel set in the tensioning device can automatically adjust the tensioning degree of the crawler in real time, the crawler can be prevented from rebounding, and the applicability of the crawler-type action system is effectively improved.
In order to achieve the purpose, the technical scheme adopted by the invention is to provide a crawler-type action system applied to an amphibious unmanned vehicle, which comprises a transmission device, a packaging device and a tensioning device, wherein the packaging device and the tensioning device are installed on the transmission device; the tensioning device comprises a pawl mechanism, a guide mechanism and a tensioning wheel set, the guide mechanism is installed on the transmission device, the tensioning wheel set is connected with the guide mechanism, and one end of the pawl mechanism is installed on the packaging device, and the other end of the pawl mechanism is meshed with the guide mechanism.
Preferably, the guide mechanism includes a guide sleeve, a support shaft, a ratchet sleeve and a guide rod, the tensioning wheel set is mounted on the support shaft, the guide sleeve is sleeved on the support shaft, the ratchet sleeve and the guide rod are arranged on the guide sleeve at intervals, and the pawl mechanism is engaged with the ratchet sleeve.
As a preferable scheme, the guide mechanism further includes a first sleeve, a second sleeve, a first spring and a second spring, one end of the first spring is preloaded in the first sleeve, the other end of the first spring is preloaded in the ratchet sleeve, the second spring is sleeved on the guide rod, and one end of the guide rod is slidably mounted in the second sleeve.
Preferably, the tension pulley set includes a first tension pulley and a second tension pulley, the first tension pulley is mounted on one end of the support shaft, and the second tension pulley is mounted on the other end of the support shaft.
As a preferable scheme, the packaging device comprises a fixed column, an inner mounting plate and an outer mounting plate which are mounted on the fixed column, and a buoyancy block which is mounted between the inner mounting plate and the outer mounting plate, wherein the inner mounting plate and the outer mounting plate are both connected with the transmission device.
Preferably, the pawl mechanism comprises a pawl fixing member and a pawl mounted on the pawl fixing member, one end of the pawl fixing member is mounted on the inner side mounting plate, the other end of the pawl fixing member is mounted on the outer side mounting plate, one end of the pawl is engaged with the ratchet sleeve, and the other end of the pawl is connected with the pawl fixing member.
As a preferable scheme, the transmission device comprises a crawler belt, a driving wheel set, a loading wheel set, a towing wheel set, a wheel bridge arm and a wheel bridge arm clamping plate, wherein the crawler belt sequentially surrounds the driving wheel set, the loading wheel set and the towing wheel set to form a flexible chain ring; the wheel bridge arm clamping plate is arranged on the wheel bridge arm and is arranged on the packaging device; one end of the guide mechanism is installed on the wheel bridge arm clamping plate, and the tensioning wheel set is abutted to the inner side face of the crawler.
Preferably, the driving wheel set, the loading wheel set and the towing wheel set are positioned between the outer mounting plate and the inner mounting plate; the driving wheel set is characterized in that one end of the driving wheel set is rotatably installed on the outer side installation plate, the other end of the driving wheel set is rotatably installed on the inner side installation plate, one end of the towing wheel set is rotatably installed on the outer side installation plate, the other end of the towing wheel set is rotatably installed on the inner side installation plate, and the heavy-load wheel set is installed on the wheel bridge arm.
Preferably, the load wheel set and the towing wheel set are both provided with a plurality of groups, and the wheel bridge arm clamping plate are both provided with two groups.
The invention has the beneficial effects that: the transmission device is used for driving the action system to work, the packaging device is used for protecting the action system and supporting the transmission device, and the pawl mechanism, the guide mechanism and the tensioning wheel set in the tensioning device can automatically adjust the tensioning degree of the crawler in real time, prevent the crawler from rebounding and effectively improve the applicability of the crawler-type action system.
Drawings
Fig. 1 is a schematic structural diagram of a crawler-type traveling system applied to an amphibious unmanned vehicle.
Fig. 2 is a schematic view of another angle of the crawler-type traveling system applied to the amphibious unmanned vehicle in fig. 1.
Fig. 3 is a schematic structural diagram of the crawler-type traveling system applied to the amphibious unmanned vehicle shown in fig. 2 after an outer mounting plate is installed.
Fig. 4 is a schematic structural diagram of an inner mounting plate in the crawler-type traveling system applied to the amphibious unmanned vehicle in fig. 3.
FIG. 5 is a schematic structural view of an outer mounting plate in the crawler-type traveling system applied to the amphibious unmanned vehicle in FIG. 3
Fig. 6 is a schematic structural diagram of a tensioning device in a crawler type traveling system applied to the amphibious unmanned vehicle in fig. 1.
Fig. 7 is an exploded schematic view of the crawler-type traveling system applied to the amphibious unmanned vehicle in fig. 6.
Fig. 8 is a schematic view of an installation structure of a tensioner and a track in the track-type traveling system applied to the amphibious unmanned vehicle in fig. 1.
The reference numbers illustrate: 10-transmission device, 11-crawler belt, 12-driving wheel set, 13-loading wheel set, 14-towing wheel set, 15-wheel bridge arm clamping plate, 16-wheel bridge arm, 20-packaging device, 21-fixing column, 22-inner mounting plate, 23-outer mounting plate, 24-buoyancy block, 30-tensioning device, 31-pawl mechanism, 31 a-pawl fixing piece, 31 b-pawl, 32-guiding mechanism, 32 a-guiding sleeve, 32 b-supporting shaft, 32 c-ratchet sleeve, 32 d-guiding rod, 32 e-first sleeve, 32 f-second sleeve, 32 g-first spring, 32 h-second spring, 33-tensioning wheel set, 33 a-first tensioning wheel and 33 b-second tensioning wheel.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 8, the present invention relates to a crawler 11 type traveling system for an amphibious unmanned vehicle, comprising a transmission 10, a packaging device 20 mounted to the transmission 10, and a tensioner 30; wherein transmission is used for providing the power that advances for this moving system, and packaging hardware 20 is used for protecting this moving system, effectively avoids inside debris get into this moving system, and packaging hardware 20 also plays certain supporting role to transmission simultaneously, and overspeed device tensioner 30 can the tensioning degree of track among the automatic adjustment transmission to can prevent that the track from kick-backing, effectively improved crawler-type moving system's suitability.
The transmission device 10 comprises a crawler 11, a driving wheel group 12, a loading wheel group 13, a towing wheel group 14, a wheel bridge arm clamp plate 15 and a wheel bridge arm 16, wherein the crawler 11 sequentially surrounds the driving wheel group 12, the loading wheel group 13 and the towing wheel group 14 to form a flexible chain ring; the wheel bridge arm clamping plate 15 is arranged on the wheel bridge arm 16, and the wheel bridge arm clamping plate 15 is arranged on the packaging device 20; the driving wheel set 12, the loading wheel set 13 and the towing wheel set 14 are positioned between the outer mounting plate 23 and the inner mounting plate; one end of the driving wheel set 12 is rotatably mounted on the outer mounting plate 23, the other end of the driving wheel set 12 is rotatably mounted on the inner mounting plate 22, one end of the towing wheel set 14 is rotatably mounted on the outer mounting plate 23, the other end of the towing wheel set 14 is rotatably mounted on the inner mounting plate 22, and the load bearing wheel set 13 is mounted on a wheel bridge arm; the load wheel set 13 and the towing wheel set 14 are all provided with a plurality of groups, the wheel bridge arm clamping plates 15 and the wheel bridge arms 16 are both provided with two groups, and the wheel bridge arm clamping plates 15 are respectively an inner wheel bridge arm clamping plate (not shown) and an outer wheel bridge arm clamping plate (not shown); in this embodiment, this transmission 10 adopts the crawler-type, and in view of the barycenter position, heavy burden wheelset 13 and drag wheelset 14 are symmetrical arrangement in this transmission 10, can satisfy and travel under geographic environment such as snowfield, sand, marsh, mire, this driving system overall structure is compact, driving wheelset 12, drag wheelset 14, heavy burden wheelset 13 and tensioning wheelset 33 all adopt to be made by the processing of macromolecular material, can effectively reduce this driving system's overall weight, improve this driving system's action ability.
The packaging device 20 comprises a fixed column 21, an inner side mounting plate 22 and an outer side mounting plate 23 which are mounted on the fixed column 21, and a buoyancy block 24 which is mounted between the inner side mounting plate 22 and the outer side mounting plate 23, wherein the inner side mounting plate 22 and the outer side mounting plate 23 are both connected with the transmission device 10; in the present embodiment, the number of the fixing columns 21 is multiple, the plurality of fixing columns are used for supporting the inner mounting plate 22 and the outer mounting plate 23, the inner mounting plate 22 is provided with an inner clamping groove, the outer mounting plate is provided with an outer clamping groove, one end of the buoyancy block 24 is installed in the inner clamping groove, the other end of the buoyancy block 24 is installed in the outer clamping groove, the inner wheel bridge arm clamping plate is fixedly installed on the inner mounting plate 22 through a bolt, and the outer wheel bridge arm clamping plate is fixedly installed on the outer mounting plate 23 through a bolt; when this traveling system during operation in ecological relatively poor environment, inside mounting panel 22 and outside mounting panel 23 can effectively avoid debris to get into inside this traveling system, and buoyancy piece 24 can install additional according to the condition, and the buoyancy piece 24 of installing additional provides the guarantee for this traveling system during aquatic work.
The tensioning device 30 comprises a pawl mechanism 31, a guide mechanism 32 and a tensioning wheel set 33, the guide mechanism 32 is mounted on the transmission device 10, the tensioning wheel set 33 is connected with the guide mechanism 32, one end of the pawl mechanism 31 is mounted on the packaging device 20, the other end of the pawl mechanism 31 is meshed with the guide mechanism 32, and the tensioning wheel set 33 abuts against the inner side surface of the crawler 11; the provision of the tensioning device 30 allows automatic adjustment of the automatic tensioning of the track and prevents the track from rebounding to the desired precision of tensioning of the track.
The pawl mechanism 31 comprises a pawl fixing member 31a and a pawl 31b mounted on the pawl fixing member 31a, one end of the pawl fixing member 31a is mounted on the inner mounting plate 22, the other end of the pawl fixing member 31a is mounted on the outer mounting plate 23, one end of the pawl 31b is engaged with the ratchet sleeve 32c, and the other end of the pawl 31b is connected with the pawl fixing member 31 a; in this embodiment, one end of the pawl fixing member 31a is fixedly mounted to the inner mounting plate 22 by a bolt, the other end of the pawl fixing member 31a is fixedly mounted to the outer mounting plate 23 by a bolt, and the pawl 31b is provided with a third spring (not shown) for adjusting the tension of the pawl mechanism 31, and the pawl mechanism 31 is provided to effectively prevent the track 11 from rebounding.
The guide mechanism 32 comprises a guide sleeve 32a, a support shaft 32b, a ratchet sleeve 32c and a guide rod 32d, the tensioning wheel set 33 is mounted on the support shaft 32b, the guide sleeve 32a is sleeved on the support shaft 32b, the ratchet sleeve 32c and the guide rod 32d are arranged on the guide sleeve 32a at intervals, and the pawl mechanism 31 is meshed with the ratchet sleeve 32 c; the guide mechanism 32 further comprises a first sleeve 32e, a second sleeve 32f, a first spring 32g and a second spring 32h, one end of the first spring 32g is pre-tightened in the first sleeve 32e, the other end of the first spring 32g is pre-tightened in the ratchet sleeve 32c, the second spring 32h is sleeved on the guide rod 32d, and one end of the guide rod 32d is slidably mounted in the second sleeve 32 f; in the present embodiment, the outer surface of the first spring 32g is in clearance fit with the inner surface of the first sleeve 32e and the inner surface of the ratchet sleeve 32c, the inner diameter of the second spring 32h is equal to the diameter of the guide rod 32d and equal to the outer diameter of the second sleeve 32f, the guide rod 32d slides in the second sleeve 32f when the tensioning device 30 operates, one end of the guide mechanism 32 is mounted on the wheel arm bridge 15, more specifically, one end of the first sleeve 32e is fixedly mounted on the inner wheel arm bridge by a bolt, one end of the second sleeve 32f is fixedly mounted on the outer wheel arm bridge by a bolt, and the tensioning angle can be adjusted by a bolt; under the elastic force of the first spring 32g and the second spring 32h described above, the automatic tensioning of the crawler belt 11 can be achieved, and due to the presence of the click mechanism 31, the rebound can be prevented to achieve the desired accuracy of tensioning of the crawler belt 11.
The tension pulley group 33 includes a first tension pulley 33a and a second tension pulley 33b, the first tension pulley 33a being mounted to one end of the support shaft 32b, the second tension pulley 33b being mounted to the other end of the support shaft 32 b; the first and second tension pulleys 33a and 33b automatically tension the track 11 in the moving direction of the guide bar 32d by the elastic force of the first and second springs 32g and 32 h.
In this embodiment, the driving wheel set 12 is installed between the inner side mounting plate and the outer side mounting plate through a shaft, a bearing and a flange plate, and is connected with the motor and the reducer, so as to drive the whole action system to work, the driving wheel set 12 is arranged at the upper left of the transmission device, the tensioning wheel set is arranged at the upper right of the transmission device, and the layout positions of the driving wheel set 12, the loading wheel set 13, the towing wheel set 14 and the tensioning wheel set 33 make the crawler-type action system have an inverted trapezoidal structure with a wide top and a narrow bottom.
The working principle of the invention is as follows: when the action system works, the motor drives the driving wheel set 12 to rotate, the driving wheel set 12 rotates to drive the crawler belt 11 to work, and the crawler belt 11 works to drive the loading wheel set 13, the towing wheel set 14 and the tensioning wheel set 33 to rotate, so that the whole action system runs; when the traveling system works, under the action of the elastic forces of the first spring 32g and the second spring 32h, the first tensioning wheel 33a and the second tensioning wheel 33b automatically tension the crawler belt 11 along the moving direction of the guide rod 32d, and the arranged pawl 31b is meshed with the guide sleeve 32a, so that the crawler belt 11 can be effectively prevented from rebounding, the expected tensioning precision of the crawler belt 11 is achieved, and the applicability of the traveling system is improved; when the mobile system works in a severe environment, the inner mounting plate 22 and the outer mounting plate 23 in the packaging device 20 can effectively prevent sundries from entering the mobile system, and the applicability of the mobile system is further improved.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and not restrictive, and various changes and modifications to the technical solutions of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are intended to fall within the scope of the present invention defined by the appended claims.
Claims (9)
1. The utility model provides a crawler-type action system for amphibious unmanned car which characterized in that: the packaging device comprises a transmission device, a packaging device and a tensioning device, wherein the packaging device and the tensioning device are mounted on the transmission device; the tensioning device comprises a pawl mechanism, a guide mechanism and a tensioning wheel set, the guide mechanism is installed on the transmission device, the tensioning wheel set is connected with the guide mechanism, and one end of the pawl mechanism is installed on the packaging device, and the other end of the pawl mechanism is meshed with the guide mechanism.
2. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 1, wherein: the guide mechanism comprises a guide sleeve, a support shaft, a ratchet sleeve and a guide rod, the tensioning wheel set is mounted on the support shaft, the guide sleeve is sleeved on the support shaft, the ratchet sleeve and the guide rod are arranged on the guide sleeve at intervals, and the pawl mechanism is meshed with the ratchet sleeve.
3. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 2, wherein: the guide mechanism further comprises a first sleeve, a second sleeve, a first spring and a second spring, one end of the first spring is pre-tightened in the first sleeve, the other end of the first spring is pre-tightened in the ratchet sleeve, the second spring is sleeved on the guide rod, and one end of the guide rod is slidably mounted in the second sleeve.
4. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 2, wherein: the tensioning wheel set comprises a first tensioning wheel and a second tensioning wheel, the first tensioning wheel is mounted at one end of the supporting shaft, and the second tensioning wheel is mounted at the other end of the supporting shaft.
5. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 2, wherein: the packaging device comprises a fixed column, an inner side mounting plate and an outer side mounting plate which are mounted on the fixed column, and a buoyancy block which is mounted between the inner side mounting plate and the outer side mounting plate, wherein the inner side mounting plate and the outer side mounting plate are connected with the transmission device.
6. A crawler-type traveling system for an amphibious unmanned vehicle according to claim 5, wherein: the ratchet mechanism comprises a ratchet fixing piece and a ratchet arranged on the ratchet fixing piece, one end of the ratchet fixing piece is arranged on the inner side mounting plate, the other end of the ratchet fixing piece is arranged on the outer side mounting plate, one end of the ratchet is meshed with the ratchet sleeve, and the other end of the ratchet is connected with the ratchet fixing piece.
7. A crawler-type traveling system for an amphibious unmanned vehicle according to claim 5, wherein: the transmission device comprises a crawler, a driving wheel set, a load wheel set, a towing wheel set, a wheel bridge arm and a wheel bridge arm clamping plate, wherein the crawler sequentially surrounds the driving wheel set, the load wheel set and the towing wheel set to form a flexible chain ring; the wheel bridge arm clamping plate is arranged on the wheel bridge arm and is arranged on the packaging device; one end of the guide mechanism is installed on the wheel bridge arm clamping plate, and the tensioning wheel set is abutted to the inner side face of the crawler.
8. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 7, wherein: the driving wheel set, the loading wheel set and the towing wheel set are positioned between the outer side mounting plate and the inner side mounting plate; the driving wheel set is characterized in that one end of the driving wheel set is rotatably installed on the outer side installation plate, the other end of the driving wheel set is rotatably installed on the inner side installation plate, one end of the towing wheel set is rotatably installed on the outer side installation plate, the other end of the towing wheel set is rotatably installed on the inner side installation plate, and the heavy-load wheel set is installed on the wheel bridge arm.
9. A crawler-type locomotion system for an amphibious unmanned vehicle according to claim 7, wherein: the loading wheel set and the towing wheel set are both multiple groups, and the number of the wheel bridge arms and the wheel bridge arm clamping plates is two.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688614.3A CN113246673A (en) | 2021-06-21 | 2021-06-21 | Crawler-type action system applied to amphibious unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688614.3A CN113246673A (en) | 2021-06-21 | 2021-06-21 | Crawler-type action system applied to amphibious unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115447688A (en) * | 2022-10-24 | 2022-12-09 | 贵州航天天马机电科技有限公司 | High-speed crawler traveling system |
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| CN213106871U (en) * | 2020-08-28 | 2021-05-04 | 天津城建大学 | Search and rescue robot for coal mine |
| CN112900400A (en) * | 2021-03-23 | 2021-06-04 | 江苏鸿昌高端装备有限公司 | Amphibious cleaning vehicle for cleaning |
| CN215284245U (en) * | 2021-06-21 | 2021-12-24 | 广东省智能机器人研究院 | Crawler-type action system for unmanned vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115447688A (en) * | 2022-10-24 | 2022-12-09 | 贵州航天天马机电科技有限公司 | High-speed crawler traveling system |
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