CN104948709A - Differential bevel gear driving type multi-wheel carrier - Google Patents
Differential bevel gear driving type multi-wheel carrier Download PDFInfo
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- CN104948709A CN104948709A CN201410108865.XA CN201410108865A CN104948709A CN 104948709 A CN104948709 A CN 104948709A CN 201410108865 A CN201410108865 A CN 201410108865A CN 104948709 A CN104948709 A CN 104948709A
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- wheel
- bevel gear
- planet
- differential
- gear
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/38—Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a wheel of a ladder-climbing vehicle. The structure is as follows: a transmission shaft is fixedly connected with a large bevel gear at one side, the large bevel gear at one side is engaged with a small bevel gear, the small bevel gear can rotate on a cross axle, the cross axle and a differential shell are fixedly connected with a multi-wheel carrier, a large bevel gear at the other side and a small wheel maintain a transmission relation via a transmission mechanism, and a rotating shaft of the transmission mechanism is fixed on the multi-wheel carrier. The functions are as follows: during movement on the flat ground, the multi-wheel carrier does not overturn, the differential shell and the cross axle fixedly connected with the multi-wheel carrier do not rotate. The transmission shaft drives the large bevel gear fixedly connected with the transmission shaft to rotate, the large bevel gear drives the small bevel gear to rotate, the rotation of the small bevel gear drives the large bevel gear at the other side and a sun gear to rotate, and the transmission device enables the small wheel to rotate. During ladder climbing up and down, the transmission shaft drives the large bevel gear fixedly connected with the transmission shaft to rotate, the small bevel gear performs revolution and rotation, the cross axle performs revolution, the multi-wheel carrier performs revolution, and the large bevel gear at the other side and the sun gear rotate so that the small wheel rotates. The rotation speed of the small wheel and the revolution speed of the wheel carrier are automatically adjusted via the differential effect.
Description
One, art
Apparatus of the present invention " the many wheel carriers of differential umbrella gear drive-type " are made up of " transmission shaft ", " differential mechanism ", " transmission device ", " multi-corner star-shape frame ", " bearing pin assembly " and " steamboat ", are a kind of wheels of upstairs going cart.Apparatus of the present invention, as cat ladder driving wheel, steamboat rotation and wheel carrier revolution can be made to automatically switch, and steamboat speed of autorotation and many wheel carriers revolution speed adjust automatically by differential action.
Two, background technique:
The technical characteristics of 1 the present invention " the many wheel carriers of differential umbrella gear drive-type ":
A: transmission shaft.
B: differential mechanism, is made up of cross axle, bevel pinion, large bevel gear, differential carrier etc.
C: transmission device, comprises " planetary gear set type ", " double-planet wheels type ", " planet sprocket type " three kinds.
D: multi-corner star-shape frame, comprises " corner starframe ", " pentalpha frame " and " Hexangular Star frame " three kinds, is called for short " four wheel carriers ", " five wheel carriers ", " six wheel carriers ".
E: bearing pin assembly, comprises bolt, nut, compression spring, baffle ring and bearing etc.
F: steamboat, comprises " one-way wheel " and " omni-directional wheel ".
A+B+C+D+E+F: the side large bevel gear of transmission shaft and differential mechanism is connected, bevel pinion and the engagement of both sides gamp wheel also can be rotated on cross axle, opposite side gamp tooth keeps drive connection by driving mechanism and steamboat, the rotatingshaft of driving mechanism is fixed on many wheel carriers, and cross axle, differential casing and many wheel carriers are connected.
2 existing similar techniques:
" the convertible stair climbing wheel of star-like planet " patent of invention of the Central China University of Science and Technology, application number: CN200620098761.6.This patent of invention adopts the compound mode of " transmission shaft ", " planetary gear set ", " bearing pin assembly ", " one-way wheel " and " clutch ", achieve rotation when upstairs going cart level walking and upper descending stair, but need Manual clutch to switch, complicated operation, efficiency is lower.
Three, summary of the invention:
1 technical problem solved:
In order to realize the automatic switchover of the revolution of upper descending stair hour wheel frame and steamboat rotation, and improving cat ladder efficiency further, hereby applying for " the many wheel carriers of differential umbrella gear drive-type " patent.
2 technological schemes implemented:
2.1 concrete structures:
Common trait:
Transmission shaft and differential mechanism large bevel gear are connected, bevel pinion and the engagement of both sides gamp wheel, opposite side gamp tooth keeps drive connection by driving mechanism and steamboat, and the rotatingshaft of driving mechanism is fixed on multi-corner star-shape frame, and cross axle, differential carrier and multi-corner star-shape frame are connected.
Personal characteristics:
Differential umbrella gear drive-type planetary gear set type four wheel carrier: transmission device is planetary gear set, and multi-corner star-shape frame is corner starframe.
Differential umbrella gear drive-type planetary gear set type five wheel carrier: transmission device is planetary gear set, and multi-corner star-shape frame is pentalpha frame.
Differential umbrella gear drive-type planetary gear set type six wheel carrier: transmission device is planetary gear set, and multi-corner star-shape frame is Hexangular Star frame.
Differential umbrella gear drive-type double-planet wheels type four wheel carrier: transmission device is double-planet wheels, and multi-corner star-shape frame is corner starframe.
Differential umbrella gear drive-type double-planet wheels type five wheel carrier: transmission device is double-planet wheels, and multi-corner star-shape frame is pentalpha frame.
Differential umbrella gear drive-type double-planet wheels type six wheel carrier: transmission device is double-planet wheels, and multi-corner star-shape frame is Hexangular Star frame.
Differential umbrella gear drive-type planet sprocket type four wheel carrier: transmission device is planet sprocket, and multi-corner star-shape frame is corner starframe.
Differential umbrella gear drive-type planet sprocket type five wheel carrier: transmission device is planet sprocket, and multi-corner star-shape frame is pentalpha frame.
Differential umbrella gear drive-type planet sprocket type six wheel carrier: transmission device is planet sprocket, and multi-corner star-shape frame is Hexangular Star frame.
Pattern combination meter:
2.2 practical functions:
When level land is moved, transmission shaft drives steamboat rotation, thus realizes level land and move.
During stair activity, transmission shaft drives steamboat rotation and the revolution of many wheel carriers, and steamboat speed of autorotation and wheel carrier revolution speed are adjusted automatically by differential action, realizes the efficient and convenient of stair activity.
3 beneficial effects:
(1) safe and reliable, car body balance can be supported, do not need artificially to pull upstairs going cart main body, and can prevent from toppling.
(2) powerful, rotation automatic switchover and the speed that can realize the revolution of many wheel carriers and steamboat rotation adjust automatically.
(3) cheap, conventional equipment can be processed, without complex parts.
Four, accompanying drawing illustrates:
Fig. 1 " one-way wheel " axonometric drawing.
Fig. 2 " clino-axis type omni-directional wheel " axonometric drawing.
Fig. 3 " intersection shaft type omni-directional wheel " plan view.
Fig. 4 " intersection shaft type omni-directional wheel " axonometric drawing.
Fig. 5 " the many wheel carriers of differential umbrella gear drive-type " schematic diagram.
Fig. 6 " the many wheel carriers of differential umbrella gear drive-type planetary gear set type " schematic diagram.
Fig. 7 " differential umbrella gear drive-type planetary gear set type six wheel carrier " explosive view.
Fig. 8 " differential umbrella gear drive-type planetary gear set type four wheel carrier " axonometric drawing.
Fig. 9 " differential umbrella gear drive-type planetary gear set type five wheel carrier " axonometric drawing.
Figure 10 " differential umbrella gear drive-type planetary gear set type six wheel carrier " axonometric drawing.
Figure 11 " the many wheel carriers of differential umbrella gear drive-type double-planet wheels type " schematic diagram.
Figure 12 " differential umbrella gear drive-type double-planet wheels type six wheel carrier " explosive view.
Figure 13 " differential umbrella gear drive-type double-planet wheels type four wheel carrier " axonometric drawing.
Figure 14 " differential umbrella gear drive-type double-planet wheels type five wheel carrier " axonometric drawing.
Figure 15 " differential umbrella gear drive-type double-planet wheels type six wheel carrier " axonometric drawing.
Figure 16 " the many wheel carriers of differential umbrella gear drive-type planet sprocket type " schematic diagram.
Figure 17 " differential umbrella gear drive-type planet sprocket type six wheel carrier " explosive view.
Figure 18 " differential umbrella gear drive-type planet sprocket type four wheel carrier " axonometric drawing.
Figure 19 " differential umbrella gear drive-type planet sprocket type five wheel carrier " axonometric drawing.
Figure 20 " differential umbrella gear drive-type planet sprocket type six wheel carrier " axonometric drawing.
Fig. 1:
One-way wheel is exactly common wheel.
Fig. 2:
The roller of clino-axis type omni-directional wheel will keep a circle, if an i.e. circle viewed from plan view.
Fig. 3, Fig. 4:
Intersect shaft type omni-directional wheel: omni-directional wheel is made up of roller, bearing pin assembly and wheel carrier, two row's rollers form a circle.Omni-directional wheel entirety can forward and backwardly be rotated, and roller can turn left and right, so omni-directional wheel can rotate to any direction.
Fig. 5:
Principle general character: the side large bevel gear of transmission shaft and differential mechanism is connected, bevel pinion and the engagement of both sides gamp wheel, opposite side gamp tooth keeps drive connection by driving mechanism and steamboat, and the rotatingshaft of driving mechanism is fixed on multi-corner star-shape frame, and cross axle, differential carrier and many wheel carriers are connected.
Fig. 6:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and many wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on many wheel carriers.
Fig. 7:
1. differential carrier, 2. transmission shaft, 3. cross axle, 4. bevel pinion, 5. large bevel gear, 6. sun gear, 7. planet wheel, 8. bearing pin assembly, 9. omni-directional wheel, 10. one-way wheel, 11. Hexangular Star framves (being called for short " six wheel carriers ").
Figure 11:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and many wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, outermost planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on many wheel carriers.
Figure 12:
1. differential carrier, 2. transmission shaft, 3. cross axle, 4. bevel pinion, 5. large bevel gear, 6. sun gear, 7. planet wheel, 8. bearing pin assembly, 9. one-way wheel, 10. omni-directional wheel, 11. Hexangular Star framves (being called for short " six wheel carriers ").
Figure 16:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and the engagement of both sides large bevel gear, cross axle, differential carrier and many wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, and planet wheel is connected by bearing pin assembly and side sprocket wheel, side sprocket wheel keeps drive connection by chain and opposite side sprocket wheel, and opposite side sprocket wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel and sprocket wheel is fixed on many wheel carriers.
Figure 17:
1. differential carrier, 2. transmission shaft, 3. cross axle, 4. bevel pinion, 5. large bevel gear, 6. sun gear, 7. planet wheel, 8. omni-directional wheel, 9. one-way wheel, 10. Hexangular Star frame (being called for short " six wheel carriers "), 11. bearing pin assemblies, 12. sprocket wheels, 13. chains.
Five, embodiment:
Fig. 7:
1 concrete structure:
The large bevel gear (5) of transmission shaft (2) and differential mechanism side is connected, cross axle (3) there is bevel pinion (4), bevel pinion (4) and large bevel gear (5) engagement, cross axle (3), differential carrier (1) and many wheel carriers (11) are connected, opposite side large bevel gear (5) and sun gear (6) are connected, sun gear (6) and planet wheel (7) engagement, planet wheel (7) is connected by bearing pin assembly (8) and steamboat (9,10).Steamboat comprises omni-directional wheel (9) and one-way wheel (10).The bearing pin assembly (8) of planet wheel (7) is fixed on many wheel carriers (11).
2 working principles:
When level land is moved, many wheel carriers (11) do not overturn, and the differential carrier (1) be connected with many wheel carriers (11) and cross axle (3) also do not rotate.Transmission shaft (2) drives the large bevel gear (5) be connected with it to rotate, large bevel gear (5) drives bevel pinion (4) rotation, the rotation of bevel pinion (4) drives opposite side large bevel gear (5) and sun gear (6) to rotate, sun gear (6) drives planet wheel (7) to rotate, planet wheel (7) drives steamboat (9,10) rotation by bearing pin assembly (8), and sense of rotation is consistent with transmission shaft (2) sense of rotation.
During stair activity, transmission shaft (2) drives the large bevel gear (5) that is connected with it to rotate, bevel pinion (4) revolution adds rotation, many wheel carriers (11), differential carrier (1) and cross axle (3) revolve round the sun, opposite side large bevel gear (5) and sun gear (6) rotate, sun gear (6) drives planet wheel (7) to rotate, and planet wheel (7) drives steamboat (9,10) to rotate by bearing pin assembly (8).Steamboat (9,10) sense of rotation is consistent with transmission shaft (2) sense of rotation with many wheel carriers (11) sense of rotation, and steamboat (9,10) speed of autorotation and many wheel carriers (11) revolution speed are adjusted automatically by differential action.
Figure 12:
1 concrete structure:
The large bevel gear (5) of transmission shaft (2) and differential mechanism side is connected, cross axle (3) there is bevel pinion (4), bevel pinion (4) and both sides large bevel gear (5) engagement, cross axle (3), differential carrier (1) and many wheel carriers (11) are connected, opposite side large bevel gear (5) and sun gear (6) are connected, sun gear (6) and planet wheel (7) engagement, outermost planet wheel (7) is connected by bearing pin assembly (8) and steamboat (9,10).Steamboat comprises one-way wheel (9) and omni-directional wheel (10).The bearing pin assembly (8) of planet wheel (7) is fixed on many wheel carriers (11).
2 working principles:
When level land is moved, many wheel carriers (11) do not overturn, and the differential carrier (1) be connected with many wheel carriers (11) and cross axle (3) also do not rotate.Transmission shaft (2) drives the large bevel gear (5) be connected with it to rotate, large bevel gear (5) drives bevel pinion (4) rotation, the rotation of bevel pinion (4) drives opposite side large bevel gear (5) and sun gear (6) to rotate, sun gear (6) drives planet wheel (7) to rotate, outermost planet wheel (7) drives steamboat (9,10) rotation by bearing pin assembly (8), and steamboat (9,10) sense of rotation is consistent with transmission shaft (2) sense of rotation.
During stair activity, transmission shaft (2) drives the large bevel gear (5) that is connected with it to rotate, bevel pinion (4) revolution adds rotation, many wheel carriers (11), differential carrier (1) and cross axle (3) revolve round the sun, opposite side large bevel gear (5) and sun gear (6) rotate, sun gear (6) drives planet wheel (7) to rotate, and outermost planet wheel (7) drives steamboat (9,10) to rotate by bearing pin assembly (8).Steamboat (9,10) sense of rotation is consistent with transmission shaft (2) sense of rotation with many wheel carriers (11) sense of rotation, and steamboat (9,10) speed of autorotation and many wheel carriers (11) revolution speed are adjusted automatically by differential action.
Figure 17:
1 concrete structure:
The large bevel gear (5) of transmission shaft (2) and differential mechanism side is connected, cross axle (3) there is bevel pinion (4), bevel pinion (4) and large bevel gear (5) engagement, cross axle (3), differential carrier (1) and many wheel carriers (10) are connected, opposite side large bevel gear (5) and sun gear (6) are connected, sun gear (6) and planet wheel (7) engagement, planet wheel (7) is connected by bearing pin assembly (11) and side sprocket wheel (12), side sprocket wheel (12) keeps drive connection by chain (13) and opposite side sprocket wheel (12), opposite side sprocket wheel (12) is by bearing pin assembly (11) and steamboat (8, 9) be connected.Steamboat comprises omni-directional wheel (8) and one-way wheel (9).The bearing pin assembly (11) of planet wheel (7) and sprocket wheel (12) is fixed on many wheel carriers (10).
2 working principles:
When level land is moved, many wheel carriers (10) do not overturn, and the differential carrier (1) be connected with many wheel carriers (10) and cross axle (3) also do not rotate.Transmission shaft (2) drives the large bevel gear (5) be connected with it to rotate, large bevel gear (5) drives bevel pinion (4) rotation, the rotation of bevel pinion (4) drives opposite side large bevel gear (5) and sun gear (6) to rotate, sun gear (6) drives planet wheel (7) to rotate, planet wheel (7) drives side sprocket wheel (12) to rotate by bearing pin assembly (8), and side sprocket wheel (12) drives opposite side sprocket wheel (12) to rotate by chain (13).Opposite side sprocket wheel (12) drives steamboat (8,9) rotation by bearing pin assembly (11), and steamboat (8,9) sense of rotation is consistent with transmission shaft (2) sense of rotation.
During stair activity, transmission shaft (2) drives the large bevel gear (5) that is connected with it to rotate, bevel pinion (4) revolution adds rotation, many wheel carriers (10), differential carrier (1) and cross axle (3) revolution, opposite side large bevel gear (5) and sun gear (6) rotate, sun gear (6) drives planet wheel (7) to rotate, planet wheel (7) drives side sprocket wheel (12) to rotate by bearing pin assembly (11), side sprocket wheel (12) drives opposite side sprocket wheel (12) to rotate by chain (13), opposite side sprocket wheel (12) drives steamboat (8 by bearing pin assembly (11), 9) rotate.Steamboat (8,9) sense of rotation is consistent with transmission shaft (2) sense of rotation with many wheel carriers (10) sense of rotation, and steamboat (8,9) speed of autorotation and many wheel carriers (10) revolution speed are adjusted automatically by differential action.
Claims (9)
1. differential umbrella gear drive-type planetary gear set type four wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and four wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on four wheel carriers.
2. differential umbrella gear drive-type planetary gear set type five wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and five wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on five wheel carriers.
3. differential umbrella gear drive-type planetary gear set type six wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and six wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on six wheel carriers.
4. differential umbrella gear drive-type double-planet wheels type four wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and four wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, outermost planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on four wheel carriers.Planet wheel is two groups.
5. differential umbrella gear drive-type double-planet wheels type five wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and five wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, outermost planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on five wheel carriers.Planet wheel is two groups.
6. differential umbrella gear drive-type double-planet wheels type six wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and six wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, outermost planet wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel is fixed on six wheel carriers.Planet wheel is two groups.
7. differential umbrella gear drive-type planet sprocket type four wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and four wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, and planet wheel is connected by bearing pin assembly and side sprocket wheel, side sprocket wheel keeps drive connection by chain and opposite side sprocket wheel, and opposite side sprocket wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel and sprocket wheel is fixed on four wheel carriers.
8. differential umbrella gear drive-type planet sprocket type five wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and five wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, and planet wheel is connected by bearing pin assembly and side sprocket wheel, side sprocket wheel keeps drive connection by chain and opposite side sprocket wheel, and opposite side sprocket wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel and sprocket wheel is fixed on five wheel carriers.
9. differential umbrella gear drive-type planet sprocket type six wheel carrier:
The side large bevel gear of transmission shaft and differential mechanism is connected, cross axle there is bevel pinion, bevel pinion and large bevel gear engagement, cross axle, differential carrier and six wheel carriers are connected, opposite side large bevel gear and sun gear are connected, sun gear and planet wheel engagement, and planet wheel is connected by bearing pin assembly and side sprocket wheel, side sprocket wheel keeps drive connection by chain and opposite side sprocket wheel, and opposite side sprocket wheel is connected by bearing pin assembly and steamboat.The bearing pin assembly of planet wheel and sprocket wheel is fixed on six wheel carriers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410108865.XA CN104948709A (en) | 2014-03-24 | 2014-03-24 | Differential bevel gear driving type multi-wheel carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410108865.XA CN104948709A (en) | 2014-03-24 | 2014-03-24 | Differential bevel gear driving type multi-wheel carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104948709A true CN104948709A (en) | 2015-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410108865.XA Pending CN104948709A (en) | 2014-03-24 | 2014-03-24 | Differential bevel gear driving type multi-wheel carrier |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564525A (en) * | 2015-11-06 | 2016-05-11 | 仲炳华 | Stair climbing robot |
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
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| CN201808592U (en) * | 2010-04-28 | 2011-04-27 | 武汉领普科技有限公司 | Stair climbing wheel driven by planet wheel |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
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| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| RU2314225C2 (en) * | 2005-12-28 | 2008-01-10 | Государственное образовательное учреждение высшего профессионального образования "Тюменский государственный нефтегазовый университет" | Device for transportation of loads up/down flights of stairs |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564525A (en) * | 2015-11-06 | 2016-05-11 | 仲炳华 | Stair climbing robot |
| CN105564525B (en) * | 2015-11-06 | 2017-11-21 | 新昌县七星街道金源机床配件经营部 | Steps climbing robot |
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
| CN105864383B (en) * | 2016-05-06 | 2017-07-14 | 吉林大学 | A kind of self adaptation barrier getting over mechanism |
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Application publication date: 20150930 |