CN108216422A - A kind of wheel steering wheel mechanism and agv vehicles - Google Patents
A kind of wheel steering wheel mechanism and agv vehicles Download PDFInfo
- Publication number
- CN108216422A CN108216422A CN201711405810.5A CN201711405810A CN108216422A CN 108216422 A CN108216422 A CN 108216422A CN 201711405810 A CN201711405810 A CN 201711405810A CN 108216422 A CN108216422 A CN 108216422A
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- China
- Prior art keywords
- pedestal
- wheel
- steering wheel
- motor
- transmission mechanism
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of wheel steering wheel mechanism and agv vehicles, the lid on the upside of the first pedestal is pressed in including the first base and cover, the second pedestal is equipped between first base and cover, wheel is installed on second pedestal, there is motor, wheel is demonstrated in the downside of the first pedestal, and the second pedestal can rotate on the first pedestal around vertical axis in wheel, first pedestal is equipped with transmission mechanism and motor, and motor input power simultaneously drives the second pedestal to be rotated around vertical axis and be achieved in turning to by transmission mechanism.Agv vehicles using when wheel steering wheel mechanism bear the pressure of vertical direction, and the rotation of the second pedestal needs the power in horizontal direction, i.e., the gravity that weight is brought will not directly influence the second pedestal swing needed for torque；It can realize that agv vehicles carry heavily loaded article easily using this wheel steering wheel mechanism.The invention is used for agv carriers field.
Description
Technical field
The present invention relates to agv carriers field, more particularly to a kind of wheel steering wheel mechanism and agv vehicles.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function.In production, the transport of part, material, cargo etc. is often carried out using AGV vehicles.
The use of agv vehicles is divided into towed and goods back-carried type in the market, is more also exactly to change in original fork truck with guide fork
Make application.It is towed in ground run, although transportation function can be realized, the existing big steering wheel mechanism of carrying of agv driving wheels is bright
Video memory is volume is excessive the problem of；Using the workshop for being all the increasing of some spaces, it is also bigger to have enough to meet the need jig mostly for back-carried type；It leads
Fork is also to be controlled in original mechanism, is much limited in overall applicability.
In some intensive goods yards, there is the space that can be carried during rigors to have very much in the turnover space of material
Limit；Omni-directional wheel and Mecanum wheel need to load 1000Kg, and the diameter of wheel body is up to 314mm, and agv trolleies is whole high at this time
Degree is in more than 400mm；At this moment just to some loads, thin handbarrow demand is strong again again.
Invention content
Wheel steering wheel mechanism and agv vehicles good the purpose of the present invention is to provide a kind of load-bearing capacity and that height is low.
The technical solution used in the present invention is：
A kind of wheel steering wheel mechanism is pressed in the lid on the upside of the first pedestal, the first base and cover including the first base and cover
The second pedestal is equipped between son, wheel on the second pedestal is installed, there is motor in wheel, wheel is demonstrated under the first pedestal
Side, the second pedestal can rotate on the first pedestal around vertical axis, and the first pedestal is equipped with transmission mechanism and motor, motor input
Power simultaneously drives the second pedestal to be rotated around vertical axis and be achieved in turning to by transmission mechanism.
As the improvement of said program, the second pedestal includes annulus and both wings side, and annulus is nested on the first pedestal, both wings
While being arranged on the same side of annulus, wheel is between both wings side, and the first pedestal is surrounded by directive wheel the second pedestal.
As the improvement of said program, each directive wheel includes the axis pin being fixedly mounted on the first pedestal and is sleeved on axis pin
Bearing, the outer wall of each bearing is bonded the realization of the second pedestal and rotates jointly in the same plane.
As the improvement of said program, transmission mechanism includes the tooth sector being located on the second pedestal, tooth sector center
With through-hole to avoid the occupied space of wheel, tooth sector is installed on the annulus of the second pedestal, tooth sector rotate into
And drive the rotation of the second pedestal.
As the improvement of said program, transmission mechanism further includes the transition gear on several the first pedestals of insertion, each transition
Gear level is put, and each transition gear engages to form train of reduction gears successively.
As the improvement of said program, for transmission mechanism altogether there are four gear, the transition gear at head and the tail both ends engages electricity respectively
The output terminal and tooth sector of machine, intermediate two transition gears are respectively provided with two layers, the larger diameter side of intermediate two transition gears
Input power, smaller diameter side output power are realized and are slowed down.
As the improvement of said program, lid pushes down the second pedestal, each directive wheel and transmission mechanism, the second pedestal of limitation,
The degree of freedom of each directive wheel and transmission mechanism in the vertical direction is equipped with thrust bearing, the second base between lid and steering bearing
Lubricating oil is equipped between seat and the first pedestal and between transmission mechanism and the first pedestal.
As the improvement of said program, motor is in the downside of the first pedestal, and motor is laterally disposed, and the output terminal of motor is set
There are commutator or the retarder with commutation function.
A kind of agv vehicles, including chassis, head cover, jacking system, control system, power supply and the row for being arranged on four edges
Component is walked, each walking component uses above-mentioned wheel steering wheel mechanism.
As the improvement of said program, four walking components are respectively at four edges on chassis, power supply and control
System processed is in the centre position on chassis, and jacking system includes four belt wheels on the outside of power supply and control system, four bands
Conveyer belt is wound on wheel, the rotation of its excess-three belt wheel is drawn by conveyer belt after a belt wheel rotation and realizes common lifting.
Beneficial effects of the present invention：This wheel steering wheel mechanism is mounted on wheel on the second pedestal, passes through the second pedestal
The variation of wheel direction of advance is realized in rotation；Agv vehicles using when wheel steering wheel mechanism bear the pressure of vertical direction, and second
The rotation of pedestal needs the power in horizontal direction, i.e., the gravity that weight is brought will not be directly influenced needed for the swing of the second pedestal
Torque so that this wheel steering wheel mechanism has good load-bearing property；It easily can be real using this wheel steering wheel mechanism
Existing agv vehicles carry heavily loaded article.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the explosive view of wheel steering wheel mechanism；
Fig. 2 is the front view of wheel steering wheel mechanism；
Fig. 3 is the overall schematic of tooth sector and transmission mechanism；
Fig. 4 is the overall schematic of the second pedestal and directive wheel；
Fig. 5 is the bottom view of wheel steering wheel mechanism；
Fig. 6 is the schematic diagram of agv vehicle interior layouts.
Specific embodiment
With reference to Fig. 1~Fig. 6, the present invention relates to a kind of wheel steering wheel mechanism and its agv vehicles, wherein wheel steering wheel mechanism includes
First pedestal 1 and the lid 12 for being pressed against 1 upside of the first pedestal have the groove for accommodating conducting wire on lid 12 and conducting wire are pressed in
Tension disc 13 in groove.The second pedestal 2 is equipped between first pedestal 1 and lid 12, the inside of the first pedestal 1 has ladder
Hole, the second pedestal 2 is overlapped on stepped hole, which takes full advantage of the first pedestal 1 structure of itself.Second pedestal 2
On wheel 4 is installed.In wheel 4 there is motor, that is, wheel 4 can realize spin after powered up, wheel 4 makes integralization to measure,
Wheel 4 is demonstrated in the downside of the first pedestal 1.Second pedestal 2 can rotate on the first pedestal 1 around vertical axis, on the first pedestal 1
Equipped with transmission mechanism 7 and motor 3,3 input power of motor and pass through transmission mechanism 7 drive the second pedestal 2 rotated around vertical axis
It is achieved in turning to.Lid 12 pushes down the second pedestal 2 and transmission mechanism 7, limits the second pedestal 2 and transmission mechanism 7 in vertical side
Upward degree of freedom is equipped with thrust bearing 9, between the second pedestal 2 and the first pedestal 1 and passes between lid 12 and steering bearing
Lubricating oil is equipped between 7 and first pedestal 1 of motivation structure.
This wheel steering wheel mechanism is mounted on wheel 4 on second pedestal 2, before realizing wheel 4 by the rotation of the second pedestal 2
Into the variation in direction；Agv vehicles using when wheel steering wheel mechanism bear the pressure of vertical direction, and the rotation of the second pedestal 2 needs
The power in horizontal direction is wanted, i.e., the gravity that weight is brought will not directly influence the second pedestal 2 and swing required torque so that this
A wheel steering wheel mechanism has good load-bearing property；And frictional force caused by gravity can be by setting thrust in contact surface
Bearing 9, lubricating oil, gasket are even polished contact surface and are balanced out easily.This wheel comes about mechanism can be under ultra-thin thickness
Steering assistance is completed, since each wheel steering wheel is that modularized design can be individually attached, is reequiped using the agv vehicles of this scheme
When it is at low cost.
As preferred embodiment, the second pedestal 2 includes annulus and both wings side, and annulus is nested on the first pedestal 1, circle
Ring can be rotated relative to the first pedestal 1, and both wings side is arranged on the same side of annulus, and wheel 4 is in both wings between and during by both wings
Clamping, can further avoid the exposed excessive distance of wheel 4 in a manner that both wings side is nested in wheel 4 in first pedestal 1.
What annulus here referred to is not the annulus of standard, but outer profile for circle and centre have square groove, on the whole similar to annulus
.First pedestal 1 is surrounded by directive wheel 6 the second pedestal 2, and each directive wheel 6 includes being fixedly mounted on the first pedestal 1
Axis pin and the deep groove ball bearing that is sleeved on axis pin, the outer wall of each deep groove ball bearing be bonded the second pedestal 2 and realize and the second pedestal 2
It rotates jointly in the same plane.Directive wheel 6 had not only positioned the second pedestal 2, but also can reduce by the second pedestal 2 and be generated in rotation process
Frictional force.
As preferred embodiment, transmission mechanism 7 is in the upside of the first pedestal 1, and transmission mechanism 7 includes being located at second
Tooth sector 5 on pedestal 2 passes through tooth sector 5 to reach the realization of the second pedestal 2 and fixes, in tooth sector 5 with reference to Fig. 1 axis pins
The heart has through-hole to avoid 4 occupied space of wheel, which combines with the both sides of both wings side holding-wheel 4, can allow
Wheel 4 is further embedded into 1 the inside of the first pedestal, can effectively compress the height of entire wheel steering wheel mechanism.
Motor 3 is usually strip, in order to which motor common in the market is enable to have organic assembling into wheel steering wheel mechanism, in
It is in a manner that motor 3 is placed across the downside of the first pedestal 1, and the height of motor 3 is slightly below wheel 4 and protrudes first
The height of pedestal 1.This design can make full use of the space outside wheel steering wheel mechanism, reduce the thickness of wheel steering wheel mechanism
Degree；And the cost of procurement criteria motor can also reduce.
To avoid wheel 4 that extra sundries, dust are involved in the first pedestal 1, the first pedestal 1 is equipped with close to wheel 4
The partition board 41 of outer profile.Tooth sector 5 is installed on the annulus of the second pedestal 2, and tooth sector 5 rotates and then drives the second pedestal
2 rotations.Transmission mechanism 7 further includes the transition gear on several the first pedestals of insertion 1, and each transition gear level is put, each transition
Gear engages to form train of reduction gears successively.Level puts design of each transition gear relative to other turbine and worms, is more convenient for
Transition gear is done thin, and then the first pedestal 1 done thin, the space on the first pedestal 1, while this transition can be made full use of
Gear belongs to common gear, itself might as well processing.It needs to mill out multiple circular grooves 71 naturally on first pedestal 1 for placing driver
Structure 7 and its axostylus axostyle further include the circular groove for accommodating directive wheel 6 certainly, and in processing, each transition gear preferentially on set and axis, is used
Snap ring limits its degree of freedom, is finally put into circular groove 71 module one by one.
As preferred embodiment, for transmission mechanism 7 altogether there are four gear, the transition gear at head and the tail both ends engages electricity respectively
The output terminal of machine 3 and tooth sector 5, intermediate two transition gears are respectively provided with two layers, the major diameter of intermediate two transition gears
Side input power, smaller diameter side output power are realized and are slowed down.This mode can make that the torque of output increases, rotating speed becomes smaller, easily
In control；Traditional motor avoids the design of direct drive of wheel, and the reaction force that the second pedestal 2 is born in the application can lead to
It crosses transmission mechanism 7 and is transmitted to motor 3, but after using these transition gears, reaction force caused by wheel 4 passes through these mistakes
Torque can become smaller instead after crossing gear, and motor 3 can balance out easily.This programme is exactly Multi-stage transmission, the torque thick stick utilized
The design of bar transformation, is overcome problem function of the prior art under the premise of motor 3 is saved from damage.
The output terminal of motor 3 is equipped with commutator or the retarder 8 with commutation function.Commutator or retarder 8 at this time
Output terminal be inserted into transition gear in, retarder 8 and transmission mechanism 7 can form double reduction, in this way can larger output torque,
More accurately adjust the steering of the second pedestal 2.
A kind of agv vehicles including chassis 101, head cover, jacking system 102, control system 103, power supply 104 and are arranged on four
The walking component 105 of a edge, each wheel steering wheel mechanism of the component 105 using said program of walking；Chassis 101 is groove
Shape, walking component 105 are placed in chassis 101, wheel 4 are only kept to demonstrate out the bottom on chassis 101, so walking component
105 exterior spaces to be occupied compress in chassis 101.Four walking components 105 are respectively at four of chassis 101
Edge, power supply 104 and control system 103 are in the centre position on chassis 101.Jacking system 102 includes four and is in power supply
104 and the belt wheel in the outside of control system 103, four belt wheels be also at four edges, be wound with conveyer belt on four belt wheels, one
Its excess-three belt wheel is drawn after a belt wheel rotation by conveyer belt to rotate, the rotation of belt wheel transports rotation by worm gear mechanism
Turn turns to linear motion, realizes that common lifting enables head cover uniform stressed.Power supply 104 and control system 103 and four
Walking between component 105 has gap, is put into belt wheel in this gap and conveyer belt can make full use of sky in chassis 101
Between, the small size of realization agv vehicles.The electrical connection of jacking system 102, control system 103 and power supply 104 can refer to existing
Technology, this will not be repeated here.
The minimum altitude of agv vehicles that the program is worked it out, well below average level 175mm, particularly should down to 135mm
The load of agv vehicles is heavy and vehicle body is again thin.
Certainly, the design creation is not limited to the above embodiment, and the combination of the various embodiments described above different characteristic also may be used
To reach good effect.Those skilled in the art can also make equivalent change under the premise of without prejudice to spirit of the invention
Shape or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of wheel steering wheel mechanism, it is characterised in that：Including the first pedestal (1) and the lid being pressed against on the upside of the first pedestal (1)
Sub (12) are equipped with the second pedestal (2), vehicle are equipped on second pedestal (2) between first pedestal (1) and lid (12)
It takes turns (4), there is motor (3), wheel (4) demonstration is in the downside of the first pedestal (1), second base in the wheel (4)
Seat (2) can rotate on the first pedestal (1) around vertical axis, and first pedestal (1) is equipped with transmission mechanism (7) and motor
(3), motor (3) input power and pass through transmission mechanism (7) the second pedestal (2) is driven to rotate and be achieved in around vertical axis
It turns to.
2. wheel steering wheel mechanism according to claim 1, it is characterised in that：Second pedestal (2) is including annulus and two
Wing side, the annulus are nested on the first pedestal (1), and two wing sides are arranged on the same side of annulus, and wheel (4) is in both wings
Between side, first pedestal (1) is surrounded by directive wheel (6) the second pedestal (2).
3. wheel steering wheel mechanism according to claim 2, it is characterised in that：Each directive wheel (6) is including being fixedly mounted
Axis pin and the bearing being sleeved on axis pin on the first pedestal (1), the outer wall of each bearing, which is bonded the second pedestal (2) and realizes, to exist
It is rotated jointly on same plane.
4. wheel steering wheel mechanism according to claim 2, it is characterised in that：The transmission mechanism (7) is including being located at second
Tooth sector (5) on pedestal (2), tooth sector (5) center have through-hole to avoid wheel (4) occupied space,
The tooth sector (5) is installed on the annulus of the second pedestal (2), and the tooth sector (5) rotates and then drives the second pedestal
(2) it rotates.
5. wheel steering wheel mechanism according to claim 4, it is characterised in that：The transmission mechanism (7) further includes several embedding
Enter the transition gear on the first pedestal (1), each transition gear level is put, and each transition gear engages to form reducing gear successively
Wheel group.
6. wheel steering wheel mechanism according to claim 5, it is characterised in that：Gear there are four the transmission mechanism (7) is common,
The output terminal and tooth sector (5) of the transition gear difference gearing motor (3) at head and the tail both ends, intermediate two transition gears have
Have two layers, larger diameter side input power, the smaller diameter side output power of intermediate two transition gears are realized and slowed down.
7. wheel steering wheel mechanism according to claim 5, it is characterised in that：The lid (12) push down the second pedestal (2),
Each directive wheel (6) and transmission mechanism (7), the second pedestal of limitation (2), each directive wheel (6) and transmission mechanism (7) are in the vertical direction
Degree of freedom, the lid (12) is equipped with thrust bearing (9), second pedestal (2) and the first pedestal between steering bearing
(1) lubricating oil is equipped between and between transmission mechanism (7) and the first pedestal (1).
8. wheel steering wheel mechanism according to any one of claims 1 to 7, it is characterised in that：The motor (3) is in
The downside of one pedestal (1), the motor (3) is laterally disposed, and the output terminal of the motor (3) is equipped with commutator or with reversing work
The retarder (8) of energy.
9. a kind of agv vehicles, including chassis, head cover, jacking system, control system, power supply and the walking for being arranged on four edges
Component (105), it is characterised in that：Each walking component (105) is used such as wheel according to any one of claims 1 to 8
Steering wheel mechanism.
10. agv vehicles according to claim 9, it is characterised in that：Four walking components (105) are respectively at chassis
(101) four edges, the power supply (104) and control system (103) are in the centre position of chassis (101), the liter
Drop system (102) includes the belt wheel four on the outside of power supply (104) and control system (103), is wound on four belt wheels
There is conveyer belt, the rotation of its excess-three belt wheel is drawn by conveyer belt after a belt wheel rotation and realizes common lifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711405810.5A CN108216422A (en) | 2017-12-22 | 2017-12-22 | A kind of wheel steering wheel mechanism and agv vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711405810.5A CN108216422A (en) | 2017-12-22 | 2017-12-22 | A kind of wheel steering wheel mechanism and agv vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108216422A true CN108216422A (en) | 2018-06-29 |
Family
ID=62647753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711405810.5A Pending CN108216422A (en) | 2017-12-22 | 2017-12-22 | A kind of wheel steering wheel mechanism and agv vehicles |
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| Country | Link |
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| CN (1) | CN108216422A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955894A (en) * | 2019-04-12 | 2019-07-02 | 深圳精智机器有限公司 | A kind of totally enclosed tighttype AGV steering driving integrated apparatus |
| CN110104094A (en) * | 2019-05-06 | 2019-08-09 | 珠海达明科技有限公司 | It is a kind of tracked based on colour band vision, the heavily loaded AGV of differential 4 wheel driven |
| CN111596657A (en) * | 2020-05-09 | 2020-08-28 | 浙江工业大学 | AGV and track motion method thereof |
| CN111845306A (en) * | 2020-07-22 | 2020-10-30 | 镇江高等职业技术学校 | Vector wheel |
| CN111874088A (en) * | 2020-07-06 | 2020-11-03 | 杭州海康机器人技术有限公司 | Drive module and automated guided transporting vehicle |
| EP3981633A1 (en) * | 2020-10-12 | 2022-04-13 | Kordel Antriebstechnik GmbH | Driving and steering unit for industrial trucks |
| CN114771642A (en) * | 2022-03-29 | 2022-07-22 | 北京航空航天大学 | Rudder wheel structure of chassis of omnidirectional mobile robot |
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
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| US20100181136A1 (en) * | 2009-01-17 | 2010-07-22 | Boomerang Systems, Inc. | Omnidirectional drive and steering unit |
| KR20150067507A (en) * | 2013-12-10 | 2015-06-18 | (주)대성에스이 | A drive devic for automatic guided vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955894A (en) * | 2019-04-12 | 2019-07-02 | 深圳精智机器有限公司 | A kind of totally enclosed tighttype AGV steering driving integrated apparatus |
| CN110104094A (en) * | 2019-05-06 | 2019-08-09 | 珠海达明科技有限公司 | It is a kind of tracked based on colour band vision, the heavily loaded AGV of differential 4 wheel driven |
| CN111596657A (en) * | 2020-05-09 | 2020-08-28 | 浙江工业大学 | AGV and track motion method thereof |
| CN111596657B (en) * | 2020-05-09 | 2023-07-18 | 浙江工业大学 | AGV and track motion method thereof |
| CN111874088A (en) * | 2020-07-06 | 2020-11-03 | 杭州海康机器人技术有限公司 | Drive module and automated guided transporting vehicle |
| CN111845306A (en) * | 2020-07-22 | 2020-10-30 | 镇江高等职业技术学校 | Vector wheel |
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| EP3981633A1 (en) * | 2020-10-12 | 2022-04-13 | Kordel Antriebstechnik GmbH | Driving and steering unit for industrial trucks |
| CN114771642A (en) * | 2022-03-29 | 2022-07-22 | 北京航空航天大学 | Rudder wheel structure of chassis of omnidirectional mobile robot |
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
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Application publication date: 20180629 |