CN104443088A - Track wheel mechanism - Google Patents
Track wheel mechanism Download PDFInfo
- Publication number
- CN104443088A CN104443088A CN201410749683.0A CN201410749683A CN104443088A CN 104443088 A CN104443088 A CN 104443088A CN 201410749683 A CN201410749683 A CN 201410749683A CN 104443088 A CN104443088 A CN 104443088A
- Authority
- CN
- China
- Prior art keywords
- support
- gear
- hydraulic
- wheel
- hydraulic pressure
- 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.)
- Granted
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 50
- 229910052742 iron Inorganic materials 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 210000000515 tooth Anatomy 0.000 claims description 42
- 235000019994 cava Nutrition 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 239000010720 hydraulic oil Substances 0.000 abstract description 2
- 230000003014 reinforcing effect Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- 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
- B62D55/18—Tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
Abstract
The invention discloses a track wheel mechanism comprising a track, a hydraulic support and three support wheels. The track comprises a rubber track body, reinforcing bars, iron teeth and limiting block. The second support wheel is connected with the third support wheel through a telescopic bar. A spring is fixed between the second support wheel and the third support wheel and sleeves the telescopic bar. A conversion shaft sleeves a hydraulic oil hollow shaft and is provided with tapered teeth. The first support wheel, as a corner gear, is connected with a first gear through a transmission shaft. The track wheel mechanism has the advantage that the hydraulic support is in the shape of a ring composed of a supporting hydraulic cylinder and three hydraulic bars, the running speed of the mechanism is high, the mechanism is suitable for running on dry roads, the travelling wheels form a triangle after the hydraulic support is contracted and after the distance between the second support and the third support wheel is enlarged due to resetting of the spring, and the track of the mechanism has ground area so that the mechanism is suitable for muddy places.
Description
Technical field
The present invention relates to a kind of Athey wheel mechanism.
Background technology
Athey wheel is to better adapt to modern age various vehicle to the requirement of the harsh performance such as cross-country traveling ability and high maneuverability, merge the advantage of tire and creeper undercarriage and the novel travelling mechanism researched and developed, current Athey wheel is generally the Athey wheel of triangle Athey wheel or long strip type, and this current several Athey wheel does not possess the feature of distortion or conversion mutually.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of Athey wheel mechanism, structure is simple, can fast speed distortion, applicable different terrain and occasion use.
To achieve these goals, the technical solution used in the present invention is: a kind of deformable caterpillar wheel comprises: crawler belt and for the hydraulic support frame that supports crawler belt and three support wheels;
Described hydraulic support frame comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stems on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece engaged with crawler belt, circular arc gear piece and three corner gears engage with crawler belt, and form a circle, three support wheels pass through rod hinge connection, wherein be connected by expansion link between the second support wheel with the 3rd support wheel, be also fixed with spring between the second support wheel and the 3rd support wheel, spring is placed on outside expansion link; Described crawler belt comprises rubber belt track, reinforced rib, iron teeth and limiting stopper, and rubber belt track belt body outer surface widthwise edges has protruding rubber reinforced rib, iron teeth has at least two limiting stoppers given prominence to along rubber belt track length direction;
The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth;
First gear is connected by chain gear with the second gear;
Second gear is connected by hydraulic pressure oil transportation hollow shaft with the support hydraulic pressure cylinder body of hydraulic support frame, and transaxle is placed on hydraulic pressure oil transportation hollow shaft, and transaxle can be moved by hydraulically extensible; The center of the second gear also has one and to cave in cone tooth;
One end of transaxle has can bore the intermeshing cone tooth of tooth with the second gear and caving in of support hydraulic pressure cylinder body, and corner gear is connected with the first gear by transmission shaft.
Further improvement, the outside of the outer actuating device be made up of the first gear, the second gear and chain is also provided with according to position-limited lever.
Further improvement, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame and hydraulic pressure oil transportation hollow shaft, there is rubber seal inside.
Iron teeth there are three limiting stoppers in described crawler belt, limiting stopper is wherein contrary with two limiting stopper projected directions of both sides, all iron teeths are all along rubber belt track length direction linear rank simultaneously, and rear side two the middle recessed portion of outstanding limiting stopper backward on last iron teeth is inserted in a limiting stopper front end outstanding in the middle part of the front side namely on an iron teeth.
The invention has the beneficial effects as follows: hydraulic support frame comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece engaged with the internal tooth of crawler belt, circular arc gear piece engages with crawler belt with three corner gears, and form a circle, this circular crawler track wheel construction advantage is that moving velocity is fast, be applicable to dry road traveling, when passing through to shrink hydraulic support frame, simultaneously the second support wheel and the 3rd support wheel stretch the distance between support wheel due to spring reset, road wheel is made to become an obtuse-angled triangle shape, the area that contacts to earth of the structure of this crawler belt is large, be adapted at comparatively muddy place to travel, particularly when running into concavo-convex ground or stone, horizontal impact is larger, because between the second support wheel and the 3rd support wheel, the brute force of spring supports, make wheel good at cross running damping performance, horizontal vibrations reduce by 70% to stress.Structure of the present invention is simple, do not need too much complicated arrangement of clutch, the Track gear of current some deformed caterpillars wheel round wheel system of unifying is that mutual inoperation coordinates, the present invention takes full advantage of Track gear round wheel system of unifying and combines, when its wheel is rounded, the supporting mechanism of Athey wheel also participates in into, common support forms circular wheel structure, the triviality of the whole wheel mechanism simplified, also save manufacturing cost simultaneously, crawler belt two edges increase certain thickness rubber reinforced rib, and be continuous type by iron teeth structural development, to strengthen the mutual restriction between adjacent iron teeth, improve the integral rigidity of rubber belt track, during turning, ensure that crawler belt is without distortion to greatest extent, iron teeth slippage is avoided to bring the quality risk of derailed crawler belt.On the other hand, the centerline deformation amount of crawler belt circumferential direction reduces greatly, and crawler belt longitudinal stretching force and lateral rigidity strengthen greatly, is applicable to the distortion of Athey wheel.
Accompanying drawing explanation
Fig. 1 is foreign steamer constructional drawing of the present invention.
Fig. 2 is main structure chart of the present invention.
Fig. 3 is master map broken away view of the present invention.
Fig. 4 is the constructional drawing of transaxle.
Fig. 5 is wheel constructional drawing triangular in shape.
Fig. 6 be wheel rounded time support wheel constitution diagram.
Fig. 7 is that the present invention does not have tracked constructional drawing.
Point planar structure schematic diagram in Fig. 8 rubber belt track.
Fig. 9 is the vertical section structural representation in Fig. 8.
In figure: 1, crawler belt, 2, circular arc gear piece, 3, hydraulic support frame, 4, transaxle, 6, spring, 7, the first support wheel, the 8, second support wheel, the 9, the 3rd support wheel, the 10, second gear, the 11, first gear, 12, transmission shaft, 13,14, chain, 15, position-limited lever, 16, cave in cone tooth.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, the present invention includes: crawler belt 1 and for the hydraulic support frame 3 that supports crawler belt and the first support wheel 7, second support wheel 8, the 3rd support wheel 9, the first described support wheel 7, second support wheel 8, the 3rd support wheel 9 are rotating corner gear.
Hydraulic support frame 3 comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stem compositions on support hydraulic pressure cylinder body, the end of hydraulic stem is all equipped with the circular arc gear piece 2 engaged with the internal tooth of crawler belt 1, circular arc gear piece 2 and the first support wheel 7, second support wheel 8, 3rd support wheel 9 all engages with crawler belt, and form a circle, rod hinge connection is passed through in the middle of first support wheel 7 and the second support wheel 8 and the first support wheel 7 and the 3rd support wheel 9, as shown in Figure 6, be connected by expansion link between second support wheel 8 with the 3rd support wheel 9, spring 6 is also fixed with between second support wheel 8 and the 3rd support wheel 9, spring 6 is placed on outside expansion link.As shown in Figure 8,9, described crawler belt 1 comprises rubber belt track 11, reinforced rib 12, iron teeth 13 and limiting stopper 14, rubber belt track 11 belt body outer surface widthwise edges has protruding rubber reinforced rib 12, iron teeth 13 has at least two limiting stoppers 14 given prominence to along rubber belt track 11 length direction; Particularly iron teeth 13 there are three limiting stoppers 14, limiting stopper 14 is wherein contrary with two limiting stopper 14 projected directions of both sides, all iron teeths 13 are all along rubber belt track 11 length direction linear rank simultaneously, and rear side two the outstanding middle recessed portion of limiting stopper 14 backward on last iron teeth 13 is inserted in limiting stopper 14 front end outstanding in the middle part of the front side namely on an iron teeth 13.Crawler belt two edges increase certain thickness rubber reinforced rib, and are continuous type by iron teeth structural development, to strengthen the mutual restriction between adjacent iron teeth, improve the integral rigidity of rubber belt track, during turning, ensure that crawler belt is without distortion, avoids iron teeth slippage to bring the quality risk of derailed crawler belt to greatest extent.On the other hand, the centerline deformation amount of crawler belt circumferential direction reduces greatly, and crawler belt longitudinal stretching force and lateral rigidity strengthen greatly
The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth 16;
First gear 11 and the second gear 10 are in transmission connection by chain 14;
Second gear 10 is connected by hydraulic pressure oil transportation hollow shaft 13 with the support hydraulic pressure cylinder body of hydraulic support frame 3, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame 3 and hydraulic pressure oil transportation hollow shaft 13, there is rubber seal inside, prevents the leakage of hydraulic oil.
Transaxle 4 is placed on hydraulic pressure oil transportation hollow shaft 13, and transaxle 4 can be moved by hydraulically extensible; The center of the second gear 10 also has one and to cave in cone tooth; As shown in Figure 4, the two ends of transaxle 4 have can bore the intermeshing cone tooth of tooth 16 with the second gear 10 and caving in of support hydraulic pressure cylinder body, and corner gear 7 is connected with the first gear 11 by transmission shaft 12;
The outside of the outer actuating device be made up of the first gear 11, second gear 10 and chain 14 is also provided with position-limited lever 15.Outer actuating device position is made to be fixed and can not to produce skew.
Due to the first support wheel 7, second support wheel 8, the 3rd support wheel 9, circular arc gear piece 2 common support of three hydraulic stems crawler belt 1, crawler belt 1 is in tensioned state, due to the effect of power, spring 6 also fixing between second support wheel 8 and the 3rd support wheel 9 is in compressive state, now, crawler belt 1 is in a circular state substantially.Transaxle 4 is connected with driving engine, it is the sole power source of whole wheel movement, the conversion regime realizing motion is, control to make motion transaxle 4 axially realize moving by control system, when motion transaxle 4 leans against on hydraulic support frame 3, the caving in of the finishing bevel gear cuter of motion transaxle 4 and support hydraulic pressure cylinder body is bored tooth 16 and is engaged, and drives hydraulic support frame 3 to rotate, thus the structure twirl of whole wheel one circle.
By shrinking three hydraulic stems on support hydraulic pressure cylinder body, the circular arc gear piece 2 of the end of hydraulic stem no longer contacts with crawler belt and engages, crawler belt is in lax shape, spring 6 Rapid reset fixing between second support wheel 8 and the 3rd support wheel 9, the distance between the second support wheel 8 and the 3rd support wheel 9 is made to become large, first support wheel 7, second support wheel 8, 3rd support wheel 9 presents an isosceles obtuse-angled triangle, as shown in Figure 5, the wheel of whole crawler belt parcel is in an isosceles obtuse-angled triangle, the wheel area that lands is large, particularly when running into concavo-convex ground or stone, horizontal impact is larger, because between the second support wheel and the 3rd support wheel, the brute force of spring supports, make wheel good at cross running damping performance, horizontal vibrations reduce by 70%.Promote transaxle 4 by Hynautio-steering to move to the direction of the second gear 10, transaxle 4 is no longer connected with hydraulic support frame 3, hydraulic support frame 3 is in passive delivery state, the cone tooth of transaxle 4 end can be bored tooth and engages with being caved in of the second gear 10, the second gear 10 is driven by transaxle 4, by chain 14 with transmission first gear 11 is rotated, and the first gear 11 has the rotation being driven the first support wheel 7 by transmission shaft 12, thus realizes the rotation of crawler belt 1.
Claims (5)
1. an Athey wheel mechanism, is characterized in that, comprising: crawler belt (1) and for the hydraulic support frame (3) that supports crawler belt and three support wheels (7,8,9);
Described hydraulic support frame (3) comprises support hydraulic pressure cylinder body and is arranged on three hydraulic stems on support hydraulic pressure cylinder body, in 120 degree of angles between two adjacent hydraulic stems, the end of hydraulic stem is all equipped with the circular arc gear piece (2) engaged with crawler belt (1), circular arc gear piece (2) and three corner gears (7, 8, 9) engage with crawler belt, and form a circle, three support wheels (7, 8, 9) rod hinge connection is passed through, wherein be connected by expansion link between the second support wheel (8) with the 3rd support wheel (9), spring (6) is also fixed with between second support wheel (8) and the 3rd support wheel (9), spring (6) is placed on outside expansion link, described crawler belt (1) comprises rubber belt track (11), reinforced rib (12), iron teeth (13) and limiting stopper (14), rubber belt track (11) belt body outer surface widthwise edges has protruding rubber reinforced rib (12), iron teeth (13) has at least two limiting stoppers (14) given prominence to along rubber belt track (11) length direction,
The medial center of described support hydraulic pressure cylinder body is provided with one and caves in cone tooth (16);
First gear (11) and the second gear (10) are in transmission connection by chain (14);
Second gear (10) is connected by hydraulic pressure oil transportation hollow shaft (13) with the support hydraulic pressure cylinder body of hydraulic support frame (3), and transaxle (4) is placed on hydraulic pressure oil transportation hollow shaft (13), and transaxle (4) can be moved by hydraulically extensible; The center of the second gear (10) also has one and to cave in cone tooth;
Two of transaxle (4) is all held to be had and can bore the intermeshing cone tooth of tooth (16) with the second gear (10) and caving in of support hydraulic pressure cylinder body, and corner gear (7) is connected with the first gear (11) by transmission shaft (12).
2. a kind of Athey wheel mechanism according to claim 1, is characterized in that, the outside of the outer actuating device be made up of the first gear (11), the second gear (10) and chain (14) is also provided with a position-limited lever (15).
3. a kind of Athey wheel mechanism according to claim 1, is characterized in that, be revolute pair connection mode between the support hydraulic pressure cylinder body of hydraulic support frame (3) and hydraulic pressure oil transportation hollow shaft (13), there is rubber seal inside.
4. a kind of Athey wheel mechanism according to claim 1, is characterized in that, described spring 6 is Rectangular Spring.
5. a kind of Athey wheel mechanism according to claim 1, it is characterized in that, in described crawler belt (1), iron teeth (13) there are three limiting stoppers (14), limiting stopper (14) is wherein contrary with two limiting stopper (14) projected directions of both sides, all iron teeths (13) are all along rubber belt track (11) length direction linear rank simultaneously, and limiting stopper (14) front end outstanding in the middle part of the front side namely on an iron teeth (13) is inserted the upper rear side two of last iron teeth (13) and given prominence to recessed portion in the middle of limiting stopper (14) backward.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610198569.2A CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
| CN201410749683.0A CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749683.0A CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Division CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443088A true CN104443088A (en) | 2015-03-25 |
| CN104443088B CN104443088B (en) | 2016-09-21 |
Family
ID=52890026
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749683.0A Expired - Fee Related CN104443088B (en) | 2014-12-10 | 2014-12-10 | Athey wheel mechanism |
| CN201610198569.2A Active CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610198569.2A Active CN105620191B (en) | 2014-12-10 | 2014-12-10 | Track wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN104443088B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| WO2019090930A1 (en) * | 2016-11-08 | 2019-05-16 | 深圳天轮科技有限公司 | Hollow wheel apparatus and means of transportation |
| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN111959192A (en) * | 2020-09-01 | 2020-11-20 | 燕山大学 | Crawler-type reconfigurable deformation wheel |
| CN112429102A (en) * | 2020-11-09 | 2021-03-02 | 安徽中亚钢结构工程有限公司 | Wall climbing mechanism of wall climbing rust cleaning robot |
| CN113895531A (en) * | 2021-11-17 | 2022-01-07 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler-type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106817926B (en) * | 2016-12-30 | 2019-03-15 | 重庆市永川区望城机械厂 | A kind of mini-tiller that convenience is travelled in land |
| FR3084325B1 (en) * | 2018-07-27 | 2020-07-31 | Michelin & Cie | TRANSFORMABLE TRACK CARRIER |
| CN110182272B (en) * | 2019-05-17 | 2021-05-25 | 西安理工大学 | Crawler-type triangular/circular deformation wheel mechanism based on internal gear |
| CN110228540B (en) * | 2019-05-17 | 2021-07-20 | 西安理工大学 | Crawler-type triangular/circular deformation wheel mechanism based on modified gears |
| CN110550842A (en) * | 2019-09-26 | 2019-12-10 | 华南理工大学 | Crawler transmission mechanism for continuous supercharging belt type dewatering machine and application thereof |
| CN114043818B (en) * | 2021-11-15 | 2023-10-24 | 长春工业大学 | Diameter-variable wheel based on two-rod three-cable tensioning integral structure |
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| CN102673306A (en) * | 2011-03-07 | 2012-09-19 | 北京理工大学 | Triangular caterpillar wheel |
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| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN203005587U (en) * | 2012-12-12 | 2013-06-19 | 樊坤声 | Triangular crawler wheel |
| CN203920957U (en) * | 2014-05-13 | 2014-11-05 | 中国人民解放军军事交通学院 | A kind of restructural rubber belt track |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101954836A (en) * | 2010-09-21 | 2011-01-26 | 中国矿业大学 | Diameter-variable wheel for automatically adapting to road surface |
| CN203753265U (en) * | 2014-03-21 | 2014-08-06 | 上海华向橡胶履带有限公司 | Anti-deforming improved derailing-resisting rubber track |
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- 2014-12-10 CN CN201610198569.2A patent/CN105620191B/en active Active
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| SU1039787A1 (en) * | 1980-12-29 | 1983-09-07 | Белорусский Ордена Трудового Красного Знамени Политехнический Институт | Roller truck propeller |
| JP2006096199A (en) * | 2004-09-29 | 2006-04-13 | Kubota Corp | Crawler type traveling device |
| US20060113095A1 (en) * | 2004-11-29 | 2006-06-01 | Deere & Company, A Delaware Corporation. | Load based suspension motion limiting |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| CN105564148B (en) * | 2016-01-19 | 2017-12-15 | 中国人民解放军国防科学技术大学 | A kind of deformation type wheel carries out leg composite machine people |
| WO2019090930A1 (en) * | 2016-11-08 | 2019-05-16 | 深圳天轮科技有限公司 | Hollow wheel apparatus and means of transportation |
| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN111959192A (en) * | 2020-09-01 | 2020-11-20 | 燕山大学 | Crawler-type reconfigurable deformation wheel |
| CN111959192B (en) * | 2020-09-01 | 2021-10-01 | 燕山大学 | Crawler-type reconfigurable deformation wheel |
| CN112429102A (en) * | 2020-11-09 | 2021-03-02 | 安徽中亚钢结构工程有限公司 | Wall climbing mechanism of wall climbing rust cleaning robot |
| CN113895531A (en) * | 2021-11-17 | 2022-01-07 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler-type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105620191B (en) | 2017-12-08 |
| CN105620191A (en) | 2016-06-01 |
| CN104443088B (en) | 2016-09-21 |
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