CN108177691A - Reduce the steering support device of crawler belt steering drag - Google Patents
Reduce the steering support device of crawler belt steering drag Download PDFInfo
- Publication number
- CN108177691A CN108177691A CN201810111363.0A CN201810111363A CN108177691A CN 108177691 A CN108177691 A CN 108177691A CN 201810111363 A CN201810111363 A CN 201810111363A CN 108177691 A CN108177691 A CN 108177691A
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- China
- Prior art keywords
- steering
- oil
- support device
- power unit
- cylinder
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses a kind of steering support devices for reducing crawler belt steering drag.The steering support device includes：Device body and the retractable support lever with device body cooperation；Wherein, on the car body, the end of retractable support lever is connected to support wheel swing arm for device body connection.It the advantage is that：The configuration of power unit is correspondingly reduced, reduces the weight of body construction；By finding the center of gravity of car body, propped by fulcrum of center of gravity line, reduce the area that lands of car body, reduce crawler belt steering drag.
Description
Technical field
The present invention relates to crawler belt course changing control fields, auxiliary more particularly, to a kind of steering for reducing crawler belt steering drag
Help device.
Background technology
Course changing control be for changing or keep vehicle heading specialized agency, effect be in vehicle travel process
In, vehicle heading is changed according to the will of driver.According to the difference of steering mode, track can be divided into and turned to and poor
Speed turns to two major class, and wherein caterpillar uses differential steering more.
When existing differential steering, 2B steerings and zero turn radius, since the area that lands is excessive and excessive there are steering drag
The phenomenon that, when carrying out steering operation, vehicle needs larger power, big for small-power Vehicular turn difficulty.
Therefore, it is necessary to which arrangements of power system can be reduced by developing one kind, mitigate body frame structure for automotive weight, reduce the area that lands
Reduction crawler belt steering drag steering support device.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and be not construed as recognizing or to imply that the information is formed in any form known to those skilled in the art existing
Technology.
Invention content
The present invention propose it is a kind of reduce crawler belt steering drag steering support device, can by reduce crawler belt
Ground area realizes the purpose for reducing crawler belt steering drag.
A kind of steering support device for reducing crawler belt steering drag according to the present invention, the steering support device include：
Device body and the retractable support lever with device body cooperation；
Wherein, on the car body, the end of the retractable support lever is connected to support wheel swing arm to the connection of described device ontology.
Preferably, described device ontology is oil cylinder, and the oil cylinder includes the first oil cylinder and the second oil cylinder, is respectively arranged at institute
State the left and right sides of car body.
Preferably, the oil cylinder includes：
Cylinder body, the top of the cylinder body are equipped with oil inlet and oil outlet, and the side wall of the cylinder body is equipped with gas vent；
Elastomeric element is arranged in the cylinder body, one end of the elastomeric element and the top of the retractable support lever
Connection, the other end of the elastomeric element are connect with the inboard wall of cylinder block.
Preferably, the steering support device further includes：
Power unit, the power unit provide power for the oil cylinder, and the power unit is equipped with protection module；
Fuel tank, the oil inlet of the flowline of the fuel tank successively with the power unit and the cylinder body are connected, the oil
The oil return pipe of case is connected with the oil outlet of the cylinder body；
Triple valve, the oil inlet of the triple valve are connect with the power unit, two oil outlets point of the triple valve
Oil return pipe not with the oil inlet of the cylinder body and the fuel tank is connected.
Preferably, the steering support device further includes：
Heat-sink unit, the heat-sink unit are set between the power unit and the fuel tank.
Preferably, the steering support device further includes：
Check valve, the check valve are set between the oil inlet of the power unit and the triple valve.
Preferably, the steering support device further includes：
Relief valve, the relief valve are set between the oil return pipe of the oil cylinder and the fuel tank.
Preferably, the power unit is hydraulic pump.
Preferably, described device ontology is cylinder, and the top of the cylinder passes through elastomeric element and the retractable supports
The top connection of bar.
Preferably, the steering support device further includes：
Power unit, the power unit are the cylinders providing power；
Wherein, the power unit is air pump.
A kind of steering support device for reducing crawler belt steering drag according to the present invention, the advantage is that：It correspondingly reduces
The configuration of power unit reduces the weight of body construction；By finding the center of gravity of car body, propped by fulcrum of center of gravity line,
The area that lands of car body is reduced, reduces crawler belt steering drag.
The steering support device of the present invention has other characteristics and advantages, these characteristics and advantages are from being incorporated herein
It will be apparent in attached drawing and subsequent specific embodiment or will be in the attached drawing that is incorporated herein and subsequent specific reality
It applies in example and is stated in detail, these the drawings and specific embodiments are used together to explain the specific principle of the present invention.
Description of the drawings
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein, in exemplary embodiments of the present invention, identical reference numeral is usual
Represent same parts.
Fig. 1 shows a kind of schematic view of the mounting position of oil cylinder of an exemplary embodiment according to the present invention.
Fig. 2 shows a kind of steering assistances of reduction crawler belt steering drag of an exemplary embodiment according to the present invention
The schematic diagram of device.
Fig. 3 shows a kind of schematic diagram of oil cylinder of an exemplary embodiment according to the present invention.
Reference sign：
1st, hydraulic pump；2nd, fuel tank；3rd, triple valve；4th, the first oil cylinder；5th, check valve；6th, the second oil cylinder；7th, car body；8th, pressure release
Valve；9th, heat-sink unit；10th, overflow valve；41st, cylinder body；42nd, piston；43rd, spring；44th, oil inlet；45th, oil outlet；46th, it deflates
Mouthful.
Specific embodiment
The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that the present invention is may be realized in various forms without should be limited by embodiments set forth here.On the contrary, it provides
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
The present invention proposes a kind of steering support device for reducing crawler belt steering drag, which includes：Dress
Put ontology and the retractable support lever coordinated with device body；
Wherein, on the car body, the end of retractable support lever is connected to support wheel swing arm for device body connection.
Preferably, device body can be oil cylinder, and oil cylinder includes the first oil cylinder and the second oil cylinder, is respectively arranged at
The left and right sides of car body.
Wherein, oil cylinder includes：
Cylinder body, the top of cylinder body are equipped with oil inlet and oil outlet, and the side wall of cylinder body is equipped with gas vent；
Elastomeric element is arranged in cylinder body, and one end of elastomeric element and the top of retractable support lever connect, elastomeric element
The other end connect with inboard wall of cylinder block.
Preferably, elastomeric element is spring.
Wherein, retractable support lever can be piston.
The oil cylinder of the present invention can customize, and there are two function, the function of normal oil cylinder and the functions of damping for the oil cylinder of customization.
Spring is placed on the top of cylinder body inner carrier, by spring supporting, top land is made to be in lowest positions, with support
Take turns swing arm connection.
The oil return line of oil cylinder must be attached to tank bottoms, ensure there is sufficient oil mass supplement, creeper truck during oil cylinder downlink
In stationary state, oil cylinder is under the support of spring, with other entire vehicle weights of eyelid retractor shared, the heavy burden fulcrum
With other heavy burden fulcrums on the same line, piston nose keeps suitable distance with oil cylinder bottom, ensures power unit pump oil
Center of gravity fulcrum is higher than other fulcrums；When vehicle movement, under the action of no power unit external force, when encountering raised ground,
Oil cylinder can move up and down, piston driving spring contraction when which up pushes up, and the fluid in extrusion oil cylinder is toward fuel tank direction
Discharge, fuel-displaced open area is smaller to generate damping, forms composite endergonic effect, when encountering lowland face, acts on and props up in spring reasoning
Under point gravity, descent of piston oil cylinder generates suction, fluid is sucked cylinder body from fuel tank, since the oil cylinder is in more than half
Full oil condition, shorter when the power unit pump oil time, therefore, this device is reasonable.
Preferably, steering support device further includes：
Power unit, power unit provide power for oil cylinder, and power unit is equipped with protection module；
Fuel tank, the oil inlet of the flowline of fuel tank successively with power unit and cylinder body are connected, the oil return pipe and cylinder body of fuel tank
Oil outlet be connected；
Triple valve, the oil inlet of triple valve are connect with power unit, two oil outlets of triple valve respectively with cylinder body into
Hydraulic fluid port is connected with the oil return pipe of fuel tank.
Wherein, protection module is overflow valve.
One oil outlet of triple valve is respectively connected to the oil inlet of the first oil cylinder and the second oil cylinder, passes through a fuel tank point
It Wei not the first oil cylinder and the second oil cylinder fuel feeding.
When triple valve is cold, two oil outlets are closed, and power unit pump oil passes through the fuel-displaced of oil cylinder
The direct oil return box of mouth reduces the power loss of power unit and reduces the spoilage of power unit.
Preferably, steering support device further includes：
Heat-sink unit, heat-sink unit are set between power unit and fuel tank.
Oil in fuel tank back and forth flows in entire steering support device, is continuously increased the temperature of fluid, causes to turn to auxiliary
Device is helped to damage, heat-sink unit makes steering support device not because of the raising of oil temperature for reducing the temperature of the fluid back and forth flowed
And it damages.
Preferably, steering support device further includes：
Check valve, check valve are set between power unit and the oil inlet of triple valve.
The fluid that check valve flows out power unit is only capable of unidirectionally flowing in oil cylinder by triple valve, and the inverse of fluid does not occur
Stream, power unit are hardly damaged.
Preferably, steering support device further includes：
Relief valve, relief valve are set between oil cylinder and the oil return pipe of fuel tank.
Wherein, relief valve is adjustable relief valve, different protection pressure values is set according to actual needs, when the load of car body
Increase, fluid cannot compress, easily causes oil cylinder detonation, fluid can be made to pass through relief valve by relief valve and be back to moment suddenly
In fuel tank, disperse the pressure of oil cylinder, reduce the spoilage of oil cylinder.
Wherein, power unit can be hydraulic pump.
Hydraulic pump is equipped with overflow valve, and overflow valve is connected in parallel on the side of hydraulic pump, and overflow valve import connects the outlet of hydraulic pump
Pipeline, overflow valve outlet connected tank.Limit hydraulic pump maximum pressure be no more than relief valve set pressure, play safeguard protection and
Pressure limiting acts on.
Hydraulic pump is matched according to car body weight, and the major function of hydraulic pump is to oil cylinder fuel feeding, generates support torque,
Solenoid valve mainly plays a part of to be switched on and off oil circuit.
Using this steering support device endless-track vehicle low speed turn to when, hydraulic pump by the oil pump in fuel tank into cylinder body,
Piston is ejected, the center of gravity of car body is propped on support ground, is shortened land length and the area that lands, is reduced crawler belt steering drag.
Using this steering support device endless-track vehicle high speed steering when, the both sides center of gravity of vehicle jacks up simultaneously, outside top
That rises is slightly higher, is turned to endless-track vehicle, overturns without easily leading to.
Preferably, device body can also be cylinder.
Wherein, the top of cylinder is connected by the top of elastomeric element and retractable support lever.
Wherein, elastomeric element can be spring.
Preferably, steering support device further includes：
Power unit, power unit are cylinders providing power；
Wherein, power unit can be air pump.
Hydraulic pump is substituted for air pump, oil cylinder is substituted for cylinder, plays the role of being used cooperatively with hydraulic pump and oil cylinder
Effect it is identical.
The steering support device of the present invention correspondingly reduces the configuration of power unit, reduces the weight of body construction；Pass through
The center of gravity of car body is found, is propped by fulcrum of center of gravity line, reduces the area that lands of car body, reduces crawler belt steering drag.
Embodiment
Fig. 1 shows a kind of schematic view of the mounting position of oil cylinder of an exemplary embodiment according to the present invention.Fig. 2 shows
A kind of schematic diagram of the steering support device of reduction crawler belt steering drag of an exemplary embodiment according to the present invention is gone out.
Fig. 3 shows a kind of schematic diagram of oil cylinder of an exemplary embodiment according to the present invention.
Power unit is by taking hydraulic pump as an example in the present embodiment.
As shown in Figure 1-Figure 3, the steering support device of a kind of reduction crawler belt steering drag of the present embodiment, the steering assistance
Device includes：Device body and the retractable support lever with device body cooperation；
Wherein, device body is connected on car body 7, and the end of retractable support lever is connected to support wheel swing arm.
In the present embodiment, device body selects oil cylinder, and oil cylinder includes the first oil cylinder 4 and the second oil cylinder 6, is respectively arranged at vehicle
The left and right sides of body 7.
Wherein, oil cylinder can include：
Cylinder body 41, the top of cylinder body 41 are equipped with oil inlet 44 and oil outlet 45, and the side wall of cylinder body 41 is equipped with gas vent 46；
Elastomeric element is arranged in cylinder body 41, and one end of elastomeric element and the top of retractable support lever connect, elastic portion
The other end of part is connect with 41 inner wall of cylinder body.
Wherein, elastomeric element is spring 43, and retractable support lever can be piston 42.
The oil cylinder of the present invention can customize, there are two the oil cylinders of customization function, the function of normal oil cylinder and the function of damping,
Spring 43 is placed on the top of 41 inner carrier 42 of cylinder body, is supported by spring 43, makes 42 top of piston in lowest positions, with branch
Support wheel swing arm connection.
In the present embodiment, steering support device further includes：
Power unit, power unit provide power for oil cylinder, and power unit is equipped with protection module；
Fuel tank 2, the oil inlet 44 of the flowline of fuel tank 2 successively with power unit and cylinder body 41 are connected, the oil return pipe of fuel tank 2
It is connected with the oil outlet 45 of cylinder body 41；
Triple valve 3, the oil inlet 44 of triple valve 3 are connect with power unit, two oil outlets 45 of triple valve 3 respectively with cylinder
The oil inlet of body 41 is connected with the oil return pipe of fuel tank 2.
In the present embodiment, protection module is overflow valve 10.
One oil outlet of triple valve 3 is respectively connected to the oil inlet of the first oil cylinder 4 and the second oil cylinder 6, passes through an oil
Case 2 is respectively 6 fuel feeding of the first oil cylinder 4 and the second oil cylinder.
When triple valve 3 is cold, two oil outlets 45 are closed, and power unit pump oil is gone out by oil cylinder
45 direct oil return box 2 of hydraulic fluid port reduces the power loss of power unit and reduces the spoilage of power unit.
Further, steering support device further includes：
Heat-sink unit 9, heat-sink unit 9 are set between power unit and fuel tank 2.
Further, steering support device further includes：
Check valve 5, check valve 5 are set between the oil inlet of power unit and triple valve 3.
Further, steering support device further includes：
Relief valve 8, relief valve 8 are set between the oil return pipe of oil cylinder and fuel tank 2.
Wherein, power unit can be hydraulic pump 1.
Hydraulic pump 1 is matched according to 7 weight of car body, and the major function of hydraulic pump 1 is to oil cylinder fuel feeding, generates support force
Square, solenoid valve 5 mainly play a part of to be switched on and off oil circuit.
Oil pump in fuel tank 2 into cylinder body 41, is ejected piston 42 by hydraulic pump 1, supports ground by the center of gravity branch of car body 7
It rises, shortens land length and the area that lands, reduce crawler belt steering drag.
It is high using the endless-track vehicle of this steering support device when being turned to using the endless-track vehicle low speed of this steering support device
When speed turns to, the both sides center of gravity of vehicle jacks up simultaneously, and outside jacks up slightly higher, is turned to endless-track vehicle, without easily leading to
It overturns.
The embodiment of the present invention is described above, above description is exemplary, and non-exclusive, and also not
It is limited to disclosed embodiment.In the case of the scope and spirit without departing from embodiment described, for the art
Those of ordinary skill for many modifications and changes will be apparent from.The selection of term used herein, it is intended to best
It explains the principle of embodiment, practical application or to the improvement of the technology in market or makes the other common of the art in ground
Technical staff is understood that embodiments disclosed herein.
Claims (10)
1. a kind of steering support device for reducing crawler belt steering drag, which is characterized in that the steering support device includes：Device
Ontology and the retractable support lever with device body cooperation；
Wherein, on the car body, the end of the retractable support lever is connected to support wheel swing arm to the connection of described device ontology.
2. the steering support device according to claim 1 for reducing crawler belt steering drag, wherein, described device ontology is oil
Cylinder, the oil cylinder include the first oil cylinder and the second oil cylinder, are respectively arranged at the left and right sides of the car body.
3. the steering support device according to claim 2 for reducing crawler belt steering drag, wherein, the oil cylinder includes：
Cylinder body, the top of the cylinder body are equipped with oil inlet and oil outlet, and the side wall of the cylinder body is equipped with gas vent；
Elastomeric element is arranged in the cylinder body, and one end of the elastomeric element is connect with the top of the retractable support lever,
The other end of the elastomeric element is connect with the inboard wall of cylinder block.
4. the steering support device according to claim 3 for reducing crawler belt steering drag, wherein, the steering support device
It further includes：
Power unit, the power unit provide power for the oil cylinder, and the power unit is equipped with protection module；
Fuel tank, the oil inlet of the flowline of the fuel tank successively with the power unit and the cylinder body are connected, the fuel tank
Oil return pipe is connected with the oil outlet of the cylinder body；
Triple valve, the oil inlet of the triple valve are connect with the power unit, two oil outlets of the triple valve respectively with
The oil inlet of the cylinder body is connected with the oil return pipe of the fuel tank.
5. the steering support device according to claim 4 for reducing crawler belt steering drag, wherein, the steering support device
It further includes：
Heat-sink unit, the heat-sink unit are set between the power unit and the fuel tank.
6. the steering support device according to claim 4 for reducing crawler belt steering drag, wherein, the steering support device
It further includes：
Check valve, the check valve are set between the oil inlet of the power unit and the triple valve.
7. the steering support device according to claim 4 for reducing crawler belt steering drag, wherein, the steering support device
It further includes：
Relief valve, the relief valve are set between the oil return pipe of the oil cylinder and the fuel tank.
8. the steering support device according to claim 4 for reducing crawler belt steering drag, wherein, the power unit is liquid
Press pump.
9. the steering support device according to claim 1 for reducing crawler belt steering drag, wherein, described device ontology is gas
Cylinder, the top of the cylinder are connect by elastomeric element with the top of the retractable support lever.
10. the steering support device according to claim 9 for reducing crawler belt steering drag, wherein, the steering assistance dress
It puts and further includes：
Power unit, the power unit are the cylinders providing power；
Wherein, the power unit is air pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810111363.0A CN108177691A (en) | 2018-02-05 | 2018-02-05 | Reduce the steering support device of crawler belt steering drag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810111363.0A CN108177691A (en) | 2018-02-05 | 2018-02-05 | Reduce the steering support device of crawler belt steering drag |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108177691A true CN108177691A (en) | 2018-06-19 |
Family
ID=62552223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810111363.0A Pending CN108177691A (en) | 2018-02-05 | 2018-02-05 | Reduce the steering support device of crawler belt steering drag |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108177691A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533060A (en) * | 2018-11-19 | 2019-03-29 | 徐工集团工程机械有限公司 | A kind of crawler attachment bogie wheel swing position limiter and control method |
| CN112298389A (en) * | 2020-10-27 | 2021-02-02 | 徐工集团工程机械股份有限公司 | Construction machine |
| CN113518695A (en) * | 2019-01-30 | 2021-10-19 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
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| CN103625546A (en) * | 2013-12-09 | 2014-03-12 | 中联重科股份有限公司 | Auxiliary power-assisted steering control method and device as well as vehicle |
| CN105151142A (en) * | 2015-10-15 | 2015-12-16 | 福建侨龙专用汽车有限公司 | Auxiliary mechanism for assisting caterpillar operation device to walk downstairs |
| CN205150013U (en) * | 2015-10-15 | 2016-04-13 | 福建侨龙专用汽车有限公司 | Crawler -type operation device complementary unit that gets out of a predicament or an embarrassing situation |
| CN206218039U (en) * | 2016-11-22 | 2017-06-06 | 哈尔滨旋狼智能科技有限公司 | A kind of crawler belt auxiliary walking device being installed on cross country chassis |
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2018
- 2018-02-05 CN CN201810111363.0A patent/CN108177691A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103625546A (en) * | 2013-12-09 | 2014-03-12 | 中联重科股份有限公司 | Auxiliary power-assisted steering control method and device as well as vehicle |
| CN105151142A (en) * | 2015-10-15 | 2015-12-16 | 福建侨龙专用汽车有限公司 | Auxiliary mechanism for assisting caterpillar operation device to walk downstairs |
| CN205150013U (en) * | 2015-10-15 | 2016-04-13 | 福建侨龙专用汽车有限公司 | Crawler -type operation device complementary unit that gets out of a predicament or an embarrassing situation |
| CN206218039U (en) * | 2016-11-22 | 2017-06-06 | 哈尔滨旋狼智能科技有限公司 | A kind of crawler belt auxiliary walking device being installed on cross country chassis |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533060A (en) * | 2018-11-19 | 2019-03-29 | 徐工集团工程机械有限公司 | A kind of crawler attachment bogie wheel swing position limiter and control method |
| CN113518695A (en) * | 2019-01-30 | 2021-10-19 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
| CN113518695B (en) * | 2019-01-30 | 2024-03-22 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
| CN112298389A (en) * | 2020-10-27 | 2021-02-02 | 徐工集团工程机械股份有限公司 | Construction machine |
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