CN106585302A - Independent rear suspension having transmission function - Google Patents

Independent rear suspension having transmission function Download PDF

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Publication number
CN106585302A
CN106585302A CN201611088657.3A CN201611088657A CN106585302A CN 106585302 A CN106585302 A CN 106585302A CN 201611088657 A CN201611088657 A CN 201611088657A CN 106585302 A CN106585302 A CN 106585302A
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China
Prior art keywords
swing arm
shock absorber
gearbox
rear suspension
drive shaft
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Pending
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CN201611088657.3A
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Chinese (zh)
Inventor
王建春
周飞
崔行振
赵峰
董道文
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Priority to CN201611088657.3A priority Critical patent/CN106585302A/en
Publication of CN106585302A publication Critical patent/CN106585302A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
    • B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
    • B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
    • B60G15/067—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
    • B60G15/068—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit specially adapted for MacPherson strut-type suspension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/422—Driving wheels or live axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/30—Spring/Damper and/or actuator Units
    • B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/124—Mounting of coil springs
    • B60G2204/1242—Mounting of coil springs on a damper, e.g. MacPerson strut
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/14—Mounting of suspension arms
    • B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/011—Modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/08—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/12—Cycles; Motorcycles
    • B60G2300/124—Quads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/38—Low or lowerable bed vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Axle Suspensions And Sidecars For Cycles (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

本发明公开了一种具有传动功能的独立后悬架，该后悬架主要包括三部分：减震器、螺旋弹簧、摆臂，其中摆臂又包括连接变速箱的传动轴套管、连接车轮的传动轴套管、内部链轮链条传动机构以及外覆盖壳。减震器一端连接摆臂上固定的连接座，另一端连接车架上的固定连接座，以实现减震目的；螺旋弹簧套在减震器外面，以实现承载和缓冲功能；摆臂的大头侧连接车轮，小头侧连接变速箱，内部靠链轮链条传动机构来实现后轮驱动。车辆后车架左右各连接一套本装置即构成完成整的独立后悬架系统。本装置结构简单可靠，减震性能极佳，稳定性和驾乘舒适性极好，对于强调越野性能的车辆来说更加适合。

The invention discloses an independent rear suspension with transmission function. The rear suspension mainly includes three parts: a shock absorber, a coil spring, and a swing arm. drive shaft bushing, inner sprocket chain drive, and outer cover shell. One end of the shock absorber is connected to the fixed connection seat on the swing arm, and the other end is connected to the fixed connection seat on the frame to achieve shock absorption; the coil spring is sleeved outside the shock absorber to achieve load-bearing and buffering functions; the big end of the swing arm The side is connected to the wheel, the small head is connected to the gearbox, and the rear wheel is driven by the sprocket chain transmission mechanism inside. A set of this device is respectively connected to the left and right sides of the rear vehicle frame to form a complete independent rear suspension system. The device has simple and reliable structure, excellent shock absorption performance, excellent stability and driving comfort, and is more suitable for vehicles emphasizing off-road performance.

Description

一种具有传动功能的独立后悬架An independent rear suspension with transmission function

技术领域technical field

本发明涉及一种车辆后悬架装置，尤其是涉及一种具有传动功能的独立后悬架装置。The invention relates to a vehicle rear suspension device, in particular to an independent rear suspension device with transmission function.

背景技术Background technique

目前，市场上机动车辆上后悬架或为单纵摆臂形式的非独立悬架结构，或为独立悬架结构，而用的最多的是双A臂式和多连杆式独立悬架，主要由螺旋弹簧承载和缓冲，由阻尼减振器实现减振作用，由双A臂或各种连杆实现悬架传力、支承和导向功能，效果较好，但缺点是结构复杂，所占空间大，造价高，定位难度大，后轮倾角随时变动，影响轮胎寿命。At present, the rear suspension of motor vehicles on the market is either a non-independent suspension structure in the form of a single trailing arm, or an independent suspension structure, and the most used are double A-arm and multi-link independent suspensions. It is mainly carried and buffered by coil springs, the damping effect is realized by damping shock absorbers, and the force transmission, support and guiding functions of the suspension are realized by double A arms or various connecting rods. The effect is good, but the disadvantage is that the structure is complex and occupies The space is large, the cost is high, the positioning is difficult, and the inclination angle of the rear wheel changes at any time, which affects the life of the tire.

另外，对于四轮摩托车、卡丁车、农夫车、沙滩车、高尔夫车等这类需要极佳越野性能的车辆，很多以往的后悬架当两后轮所处高度不一致时，不能根据路面情况进行合适的调整，车身便会倾斜的厉害，使得车辆的舒适性和安全性不理想。同时有些独立悬架结构虽然有效提高了车辆的舒适性，但传动系复杂，增加了成本。In addition, for vehicles requiring excellent off-road performance such as four-wheeled motorcycles, go-karts, farm vehicles, ATVs, and golf carts, many previous rear suspensions cannot be adjusted according to the road conditions when the heights of the two rear wheels are inconsistent. With proper adjustment, the vehicle body will tilt severely, making the comfort and safety of the vehicle unsatisfactory. At the same time, although some independent suspension structures have effectively improved the comfort of the vehicle, the transmission system is complicated and increases the cost.

发明内容Contents of the invention

为了解决上述背景技术中的不足，本发明提供了一种结构简单可靠，减震性能极佳，具有传动功能的独立后悬架。In order to solve the shortcomings in the above-mentioned background technology, the present invention provides an independent rear suspension with simple and reliable structure, excellent shock absorption performance and transmission function.

本发明是通过以下技术方案来实现的：该车辆后悬架主要包括三部分：减震器、螺旋弹簧、摆臂，其中摆臂又包括连接变速箱的传动轴套管、连接车轮的传动轴套管、内部链轮链条传动机构以及外覆盖壳，同时，摆臂上侧设有减震器的连接座，变速箱的传动轴套管和连接车轮的传动轴套管的周围设有肋板，以加强传动轴的稳固性。减震器一端连接摆臂上的固定连接座，另一端连接车架上的固定连接座，当后轮受到冲击时整个摆臂会以连接变速箱的传动轴套管的中心线为中心轴转动，并随之传递给减震器，以实现减震目的；螺旋弹簧套在减震器外面，以实现承载和缓冲功能；摆臂的大头侧连接车轮，小头侧连接变速箱，内部有链轮链条传动机构，将变速箱传递过来的动力通过链轮链条传动机构传递给后车轮，以此来实现后车轮的驱动。车辆后车架左右各连接一套本装置即构成完整的独立后悬架系统。The present invention is achieved through the following technical solutions: the rear suspension of the vehicle mainly includes three parts: a shock absorber, a coil spring, and a swing arm, wherein the swing arm includes a drive shaft sleeve connected to the gearbox and a drive shaft connected to the wheels Sleeve, internal sprocket chain transmission mechanism and outer cover shell, at the same time, the upper side of the swing arm is provided with the connection seat of the shock absorber, and the drive shaft sleeve of the gearbox and the drive shaft sleeve connected to the wheel are provided with ribs , to enhance the stability of the drive shaft. One end of the shock absorber is connected to the fixed connection seat on the swing arm, and the other end is connected to the fixed connection seat on the frame. When the rear wheel is impacted, the entire swing arm will rotate around the center line of the transmission shaft sleeve connected to the gearbox. , and then transmitted to the shock absorber to achieve the purpose of shock absorption; the coil spring is sleeved outside the shock absorber to achieve load-bearing and buffering functions; the large end of the swing arm is connected to the wheel, and the small end is connected to the gearbox, and there is a chain inside The wheel and chain transmission mechanism transmits the power transmitted by the gearbox to the rear wheels through the sprocket and chain transmission mechanism, so as to realize the driving of the rear wheels. The left and right sides of the rear frame of the vehicle are respectively connected with one set of this device to form a complete independent rear suspension system.

本发明与现有技术相比具有以下有益效果：本车辆独立后悬架通过减震器一端连接摆臂上的固定连接座，另一端连接车架上的固定连接座的构造，使得当后轮受到冲击时整个摆臂会以连接变速箱的传动轴套管的中心线为中心轴转动，并随之传递给减震器，以实现减震目的；另外，本装置通过将后轮驱动传动装置内置于摆臂中，简化了整个悬架结构，而且连接更简单可靠，定位更加准确；同时，当两后轮所处高度不一致时，可以减少车身倾斜，使车身保持平稳，从而提高了车辆的舒适性和安全性；本发明的车辆后悬架结构相对于一般的独立悬架结构，其结构简单、制造方便、成本低。上述车辆后悬架结构特别适合在四轮摩托车、卡丁车、农夫车、沙滩车、高尔夫车等经常在不平整的道路上行驶的车型上使用。Compared with the prior art, the present invention has the following beneficial effects: the independent rear suspension of the vehicle is connected to the fixed connection seat on the swing arm through the shock absorber at one end, and the other end is connected to the structure of the fixed connection seat on the vehicle frame, so that when the rear wheel When impacted, the entire swing arm will rotate with the centerline of the transmission shaft sleeve connected to the gearbox as the central axis, and then transmit it to the shock absorber to achieve the purpose of shock absorption; in addition, this device drives the transmission device through the rear wheel Built into the swing arm, it simplifies the entire suspension structure, and the connection is simpler and more reliable, and the positioning is more accurate; at the same time, when the two rear wheels are at different heights, it can reduce the tilt of the body and keep the body stable, thereby improving the vehicle's stability. Comfort and safety: Compared with the general independent suspension structure, the vehicle rear suspension structure of the present invention has simple structure, convenient manufacture and low cost. The vehicle rear suspension structure is particularly suitable for use on vehicles such as four-wheeled motorcycles, go-karts, farmer vehicles, ATVs, golf carts, etc. that often run on uneven roads.

附图说明Description of drawings

图1为本发明整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.

图2为本发明摆臂外部结构示意图。Fig. 2 is a schematic diagram of the external structure of the swing arm of the present invention.

图3为本发明摆臂内部传动结构示意图。Fig. 3 is a schematic diagram of the internal transmission structure of the swing arm of the present invention.

图4为本发明摆臂内部链轮链条传动机构示意图。Fig. 4 is a schematic diagram of the sprocket chain transmission mechanism inside the swing arm of the present invention.

图5为一种应用了本发明的全地形车部分结构示意图。Fig. 5 is a partial structural diagram of an all-terrain vehicle to which the present invention is applied.

其中：1、减震器；2、螺旋弹簧；3、摆臂；4、连接变速箱的传动轴套管；5、连接车轮的传动轴套管、6、外覆盖壳；7、摆臂上的固定连接座；8、肋板；9、圆形盖；10、车架上的固定连接座；31、主动轮；32、从动轮；33、链条；41、主动轮；42、从动轮；43、链条。Among them: 1. Shock absorber; 2. Coil spring; 3. Swing arm; 4. Transmission shaft sleeve connected to the gearbox; 5. Drive shaft sleeve connected to the wheel; 6. Outer cover shell; 7. On the swing arm 8, rib plate; 9, circular cover; 10, fixed connection seat on the vehicle frame; 31, driving wheel; 32, driven wheel; 33, chain; 41, driving wheel; 42, driven wheel; 43. Chain.

具体实施方式detailed description

结合图1、图2、图3、图4所示，本实施例的车辆后悬架结构主要包括三部分：减震器1、螺旋弹簧2、摆臂3，其中摆臂3又包括连接变速箱的传动轴套管4、连接车轮的传动轴套管5、内部链轮链条传动机构（图4）以及外覆盖壳6，同时，摆臂3上侧设有减震器的连接座7，变速箱的传动轴套管4和连接车轮的传动轴套管5的周围设有肋板8，以加强传动轴的稳固性，此外为了能够看到内部结构或是后期便于维修，又在外覆盖壳6上特别设计了圆形盖9，大头侧和小头侧各有一个。1, 2, 3, and 4, the vehicle rear suspension structure of this embodiment mainly includes three parts: a shock absorber 1, a coil spring 2, and a swing arm 3, wherein the swing arm 3 includes a connecting gear The transmission shaft casing 4 of the box, the transmission shaft casing 5 connected to the wheel, the internal sprocket chain transmission mechanism (Fig. 4) and the outer cover shell 6. At the same time, the upper side of the swing arm 3 is provided with a shock absorber connection seat 7, Ribs 8 are provided around the drive shaft sleeve 4 of the gearbox and the drive shaft sleeve 5 connected to the wheels to strengthen the stability of the drive shaft. In addition, in order to see the internal structure or facilitate maintenance later, the outer cover shell Specially designed circular cover 9 on the 6, there is respectively one on the big head side and the little head side.

减震器1一端连接摆臂上的固定连接座7，另一端连接车架上的固定连接座10，当后轮受到冲击时，整个摆臂3会以连接变速箱的传动轴套管4的中心线为中心轴转动，并随之传递给减震器1，并在减震器1的阻尼力作用下实现减震目的；螺旋弹簧2套在减震器1外面，当后轮和摆臂3受到上下作用力时即可得到缓冲，以实现螺旋弹簧2的承载功能；摆臂3的大头侧连接后车轮，小头侧连接变速箱，内部有链轮链条传动机构，如图3和图4所示（图3中31代表图4中的41，为主动轮；图3中32代表图4中的42，为从动轮；图3中的33代表图4中的43，为链条），将变速箱传递过来的动力通过链轮链条传动机构传递给后车轮，以此来实现后车轮的驱动。车辆后车架左右各连接一套本装置即构成完整的独立后悬架系统，如图5所示。One end of the shock absorber 1 is connected to the fixed connection seat 7 on the swing arm, and the other end is connected to the fixed connection seat 10 on the vehicle frame. The center line is the rotation of the central axis, and then it is transmitted to the shock absorber 1, and the purpose of shock absorption is realized under the damping force of the shock absorber 1; the coil spring 2 is set outside the shock absorber 1, when the rear wheel and the swing arm 3 It can be buffered when it is subjected to up and down forces, so as to realize the bearing function of the coil spring 2; the large end of the swing arm 3 is connected to the rear wheel, and the small end is connected to the gearbox, and there is a sprocket chain transmission mechanism inside, as shown in Figure 3 and Figure 3. 4 (31 in Figure 3 represents 41 in Figure 4, which is a driving wheel; 32 in Figure 3 represents 42 in Figure 4, which is a driven wheel; 33 in Figure 3 represents 43 in Figure 4, which is a chain), The power transmitted from the gearbox is transmitted to the rear wheels through the sprocket chain transmission mechanism, so as to realize the driving of the rear wheels. A set of this device is respectively connected to the left and right sides of the rear frame of the vehicle to form a complete independent rear suspension system, as shown in Figure 5.

Claims (3)

1.本发明为一种具有传动功能的独立后悬架装置，主要包括三部分：减震器（1）、螺旋弹簧（2）、摆臂（3），其特征在于：摆臂（3）包括连接变速箱的传动轴套管（4）、连接车轮的传动轴套管（5）、内部链轮链条传动机构（图4）以及外覆盖壳（6），同时，摆臂（3）上侧设有减震器的连接座（7），变速箱的传动轴套管（4）和连接车轮的传动轴套管（5）的周围设有肋板（8），以加强传动轴的稳固性，此外为了能够看到内部结构或是后期便于维修，又在整个外覆盖壳（6）上特别设计了圆形盖（9），大头侧和小头侧各有一个。1. The present invention is an independent rear suspension device with transmission function, mainly including three parts: shock absorber (1), coil spring (2), swing arm (3), characterized in that: swing arm (3) It includes the drive shaft sleeve (4) connected to the gearbox, the drive shaft sleeve (5) connected to the wheel, the internal sprocket chain transmission mechanism (Figure 4) and the outer cover shell (6). At the same time, the swing arm (3) There is a connecting seat (7) for the shock absorber on the side, and ribs (8) are provided around the drive shaft sleeve (4) of the gearbox and the drive shaft sleeve (5) connected to the wheel to strengthen the stability of the drive shaft. In addition, in order to be able to see the internal structure or facilitate maintenance in the later stage, a circular cover (9) is specially designed on the entire outer cover shell (6), one on the big head side and one on the small head side. 2.根据权利要求1所述的一种具有传动功能的独立后悬架装置，其特征在于：减震器（1）一端连接摆臂上固定的连接座（7），另一端连接车架上的固定连接座（10），当后轮受到冲击时整个摆臂（3）会以连接变速箱的传动轴套管（4）的中心线为中心轴转动，并随之传递给减震器（1），并在减震器（1）的阻尼力作用下实现减震目的。2. An independent rear suspension device with transmission function according to claim 1, characterized in that one end of the shock absorber (1) is connected to the fixed connection seat (7) on the swing arm, and the other end is connected to the frame When the rear wheel is impacted, the entire swing arm (3) will rotate with the center line of the transmission shaft sleeve (4) connected to the gearbox as the central axis, and then transmit it to the shock absorber ( 1), and achieve the purpose of shock absorption under the damping force of the shock absorber (1). 3.根据权利要求1所述的一种具有传动功能的独立后悬架装置，其特征在于：摆臂（3）的大头侧连接后车轮，小头侧连接变速箱，内部有链轮链条传动机构（图4），将变速箱传递过来的动力通过链轮链条传动机构（图4）传递给后车轮，以此来实现后车轮的驱动。3. An independent rear suspension device with transmission function according to claim 1, characterized in that: the large head side of the swing arm (3) is connected to the rear wheel, the small head side is connected to the gearbox, and there is a sprocket chain drive inside mechanism (Figure 4), the power transmitted from the gearbox is transmitted to the rear wheels through the sprocket chain transmission mechanism (Figure 4), so as to realize the drive of the rear wheels.
CN201611088657.3A 2016-12-01 2016-12-01 Independent rear suspension having transmission function Pending CN106585302A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611088657.3A CN106585302A (en) 2016-12-01 2016-12-01 Independent rear suspension having transmission function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611088657.3A CN106585302A (en) 2016-12-01 2016-12-01 Independent rear suspension having transmission function

Publications (1)

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CN106585302A true CN106585302A (en) 2017-04-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611088657.3A Pending CN106585302A (en) 2016-12-01 2016-12-01 Independent rear suspension having transmission function

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CN (1) CN106585302A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112848830A (en) * 2021-03-31 2021-05-28 芜湖造船厂有限公司 Special vehicle suspension system
US11458790B2 (en) * 2020-06-25 2022-10-04 Kubota Corporation Work vehicle
WO2023020147A1 (en) * 2021-08-17 2023-02-23 马亮 Transmission system
CN115891538A (en) * 2022-12-21 2023-04-04 厦门威迪思汽车设计服务有限公司 Mobile robot for agricultural

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11458790B2 (en) * 2020-06-25 2022-10-04 Kubota Corporation Work vehicle
CN112848830A (en) * 2021-03-31 2021-05-28 芜湖造船厂有限公司 Special vehicle suspension system
WO2023020147A1 (en) * 2021-08-17 2023-02-23 马亮 Transmission system
CN115891538A (en) * 2022-12-21 2023-04-04 厦门威迪思汽车设计服务有限公司 Mobile robot for agricultural
CN115891538B (en) * 2022-12-21 2025-05-13 厦门威迪思汽车设计服务有限公司 A mobile robot for agricultural use

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Application publication date: 20170426