CN108340978A - A kind of replaceable triangle crawler belt wheel assembly of high-speed overload - Google Patents
A kind of replaceable triangle crawler belt wheel assembly of high-speed overload Download PDFInfo
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- CN108340978A CN108340978A CN201810178153.3A CN201810178153A CN108340978A CN 108340978 A CN108340978 A CN 108340978A CN 201810178153 A CN201810178153 A CN 201810178153A CN 108340978 A CN108340978 A CN 108340978A
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- China
- Prior art keywords
- wheel
- tensioning
- carrying roller
- driving wheel
- crawler belt
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Classifications
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- 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
Abstract
A kind of replaceable triangle crawler belt wheel assembly of high-speed overload, including rubber belt track, supporting rack, driving wheel, directive wheel, tensioning guide wheel, tensioning apparatus and carrying roller, rubber belt track is coated in outer ring, and driving wheel, directive wheel, tensioning guide wheel, tensioning apparatus and carrying roller are mounted on supporting rack；Driving wheel is in rubber belt track top, is connected with chassis wheel shaft；Directive wheel and tensioning guide wheel are respectively at rubber belt track bottom both ends, and carrying roller is in centre；Tensioning apparatus includes oil cylinder, accumulator and tensioning wheel link, oil cylinder is connected with accumulator, form gas-liquid spring, oil cylinder is connected on the oil cylinder seat of supporting rack, tensioning wheel link lower end is connected with supporting rack becomes a hinge, tensioning guide wheel is housed, tensioning wheel link upper end is connected with oil cylinder among tensioning wheel link.The ability that vehicle copes with the complex geological conditions such as muddy, soft can be improved in the requirement that the configuration of the present invention is simple is reasonable, stability is good, Quick universal can be achieved, meet high-speed overload.
Description
Technical field
The present invention relates to a kind of triangle crawler unit, especially a kind of replaceable triangle Athey wheel of high-speed overload is total
At belonging to engineering machinery field, especially suitable for rescue vehicle.
Background technology
Rubber-tyred rescue vehicle has the characteristics that travel speed is fast, mobility is good, simple in structure, disclosure satisfy that dress
The needs of standby quick transition and engineering first-aid repair operation under general road conditions.But it is in the Special Roads row such as sandstone, ice and snow, miriness
The phenomenon that sagging tire, skidding or even crank are easy to happen when sailing with operation.Although and overall track formula equipment can be very well
Ground adapts to severe place and working environment, but its installation must rely on matched chassis special, not only aggravate vehicle
Weight, also reduce the mobility of vehicle to some extent.In addition, conventional track volume is big, complicated, daily maintenance
Cost is higher, and practical application is limited by very large.
During executing the diversified rescue action such as wartime engineering first-aid repair and rescue and relief work, quick transition and efficiently is needed
Operation, and existing wheeled engineering first-aid repair is equipped under random changeable pavement conditions, it can be insufficient serious because of its adaptive capacity to environment
Influence traveling and operation.
Replaceable triangle crawler unit has merged tire and crawler travel machine as a kind of novel walking mechanism
The advantages of structure.After vehicle replaces triangle Athey wheel, due to the increase of crawler bearing area, grounding pressure is reduced, vehicle is made to exist
While keeping original power performance, traction and adhesive ability have obtained larger promotion.Though replaceable triangle crawler unit
So a small number of fields have obtained some applications at home, but using less on rescue vehicle.
Under normal circumstances, triangle Athey wheel all selects rubber belt track, because rubber belt track is crawler belt of running at high speed, weight
Gently, road surface is not damaged, it is easy to loading and unloading.And on heavy-duty machine largely use metal track comparison it is more, it because weight out of
The imagination, handling are especially laborious, and road pavement well damage.The whole load-bearing capacity of existing triangle Athey wheel is still less than normal, it is difficult to
For in heavy-duty machinery and Large-Scale Equipment, structure self stability, anti-canting performance etc. is also to be improved.
Invention content
In order to overcome the above-mentioned deficiency of the prior art, it is total that the present invention provides a kind of replaceable triangle Athey wheel of high-speed overload
At the triangle crawler belt wheel assembly has the advantages that the rapid translating of Athey wheel and tire, can substantially increase the use of Athey wheel
Occasion extends the working performance of existing vehicle.
The present invention solve its technical problem the technical solution adopted is that：Including rubber belt track, supporting rack, driving wheel, guiding
Wheel, tensioning guide wheel, tensioning apparatus and carrying roller, the rubber belt track coat driving wheel, directive wheel, tensioning guiding in outer ring
Wheel and carrying roller, driving wheel, directive wheel, tensioning guide wheel, tensioning apparatus and carrying roller are mounted on supporting rack；At driving wheel
In rubber belt track top, it is connected with chassis wheel shaft；Directive wheel and tensioning guide wheel are respectively at the bottom both ends of rubber belt track,
The carrying roller is installed among directive wheel and tensioning guide wheel；The tensioning apparatus includes oil cylinder, accumulator and tensioning wheel
Link, oil cylinder memory liquid storage pressure oil, the interior gas and hydraulic oil stored of accumulator, oil cylinder are connected with accumulator, form gas
Liquid spring, oil cylinder are connected on the oil cylinder seat of supporting rack, and tensioning wheel link lower end is connected with supporting rack as a hinge,
Tensioning guide wheel is housed, tensioning wheel link upper end is connected with oil cylinder among tensioning wheel link.
Compared with prior art, the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload of the invention not only has monoblock type
The various advantages of crawler belt even more overcome some shortcomings of entire track vehicle：
(1) it compared with steel crawler belt, without the noise (tap-tap and continuous creak cough up sound) for contacting mobile generation with ground, shakes
Dynamic light, seating is comfortable, improves operating environment, mitigates the labor intensity of operator.Rubber belt track wheel is lighter, reduces vehicle
Overall weight, improve the mobility of vehicle.Simultaneously rubber belt track wheel will not road pavement cause to damage, and can go at a high speed
It sails, maximum speed is up to 70km/h or more.
(2) under complex work environment, there is better passability than entire track.Track-wheel type vehicle compares monoblock type
Endless-track vehicle has the contact area of bigger under special topography condition, is provided with the tractive force of bigger.On scraggly road surface,
Track-wheel type vehicle vibration smaller, stability higher.
(3) vehicle and wheeled vehicle steering behaviour having the same for changing Athey wheel, than globality formula rubber belt track vehicle
Steering is more flexible.
(4) crawler belt wheeled vehicle has bigger contact area and smaller grounding pressure than wheeled vehicle.Athey wheel have compared with
Big contact area, adhesive force and tractive force improve 1.5 times, and minimum ground clearance of car increases.Big contact area ensure that
Track-wheel type vehicle has the tractive force of bigger, and small grounding pressure allows crawler belt wheeled vehicle in snowfield, desert, marsh etc.
Wet, soft, ways face has best passability.The big road clearance makes obstacle-overpass ability increase than former vehicle, so can fit
Complicated highway in mountain areas environment is answered, ensures that vehicle is more easily accessible to working site.
(5) Athey wheel is adaptable, and installation is easy to carry.Repacking is simple, and special repacking, modularization are carried out without to vehicle
Design, it is easy to carry, it can quick-replaceable at the scene.By tire changing when use, it is connect with wheel hub with the driving wheel of Athey wheel,
Only need can to complete for 20 minutes changing the outfit for 4 Athey wheels.When it is impossible to meet work to want under particular job environment for wheeled vehicle
It asks, identical realization can be converted by the Athey wheel of outfit has wheeled vehicle to the conversion of crawler belt wheeled vehicle, improves existing vehicle
Working performance.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural perspective of one embodiment of the invention.
Fig. 2 is the structural schematic diagram of driving wheel in Fig. 1.
Fig. 3 is the structural schematic diagram of carrying roller in Fig. 1.
Fig. 4 is the structural schematic diagram of tensioning apparatus in Fig. 1.
In figure：1, rubber belt track, 2, tensioning apparatus, 3, tensioning guide wheel, 4, carrying roller, 5, directive wheel, 6, supporting rack, 7,
Driving wheel, 8, lubricating cup A, 9, driving wheel baffle, 10, driving wheel taper roll bearing, 11, driving wheel outside framework oil seal, 12, carrying roller
Baffle, 13, carrying roller bolt, 14, carrying roller float grease seal seat, 15, carrying roller float grease seal, 16, carrying roller taper roller axis
It holds, 17, carrying roller lock washer, 18, carrying roller nut, 19, lubricating cup B, 20, carrying roller O-ring, 21, load-bearing wheel shaft, 22, hold
The wheel of roller, 23, oil cylinder seat, 24, cylinder barrel, 25, cylinder rod, 26, tensioning wheel link.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, belongs to protection scope of the present invention.
Fig. 1 to Fig. 4 shows the structural schematic diagram of a preferred embodiment of the invention.
In the schematic diagram of high-speed overload triangle Athey wheel shown in Fig. 1, supporting rack 6 is welded into box-type by steel plate, and
Inside is welded with reinforcing rib, is connect with driving wheel 7 by bearing 10, and supporting rack 6 is also kept off by directive wheel baffle, tensioning guide wheel
Plate, load-bearing baffle 12 and driving wheel baffle 9 connect into an entirety with each train in lower section.Relative to direction of advance, tensioning apparatus 2
It is placed on triangle Athey wheel front end, the tensioning guiding of front end plays tensioning and guiding role, and the directive wheel 5 of rear end is directed only to.
As shown in Fig. 2, driving wheel 7 is in triangle Athey wheel top, it is connected with chassis wheel shaft by 10 bolts, and lead to
Cross the connection of bearing 10, the limit of bearing is by the driving wheel shaft shoulder and the driving wheel baffle 9 that is fixed by bolts on driving wheel 7, and two
Side driving wheel outside framework oil seal 11 is sealed, and on end cap is stamped threaded hole and screwed on lubricating cup A8 and oiling is facilitated to be lubricated.
As shown in figure 3, carrying roller 4 is in the bottom of triangle, directive wheel 5 and tensioning are installed on by carrying roller bolt 13
On supporting rack 6 among directive wheel 3, load-bearing train is constituted, is Athey wheel primary load bearing structure.Load-bearing wheel shaft 21 is using semiaxis
Form, the more lightweight of semiaxis form, and meanwhile it is convenient for assembly, it is connect with supporting rack 6 by carrying roller baffle 12.The wheel of carrying roller
Son 22 is connected by two carrying roller taper roll bearings 16 with load-bearing wheel shaft 21, and bearing inner race coordinates with wheel shaft 21, outer ring
It is matched with the wheel hub of the wheel 22 of carrying roller, so that the wheel 22 of carrying roller is rotated relative to load-bearing wheel shaft 21, load-bearing wheel shaft 21 is not
Rotation.Axial limiting relies on the shaft shoulder, while screwing on carrying roller nut 18 in shaft end tapping and using carrying roller lock washer 17
It is locked.Sealing combines sealing using carrying roller float grease seal seat 14, carrying roller float grease seal 15 with carrying roller O-ring 20,
And threaded hole is stamped at end cap, lubricating cup B19 is screwed on, lubrication is facilitated.
In the present embodiment, directive wheel 5, the structure type of tensioning guide wheel 3 are identical as carrying roller 4, and only size is different.
So directive wheel 5 and tensioning guide wheel 3 are in the both ends of triangular base, for guiding rubber belt track 1, prevent crawler belt from taking off tooth,
And approach angle is provided, it is provided simultaneously with 1 tensioning function of rubber belt track.Guide wheel shaft and tensioning guide wheel axis all use the shape of semiaxis
Formula is connect by directive wheel baffle, tensioning guide wheel baffle with supporting rack 6.The wheel that the wheel of guiding and tensioning are oriented to is divided equally
It is not connected with its wheel shaft by two taper roll bearings, bearing inner race coordinates with its wheel shaft, the wheel hub of outer ring and its wheel
It matches, its wheel is made to be rotated relative to its wheel shaft, wheel shaft does not rotate.Axial limiting relies on the shaft shoulder, while in shaft end tapping
It screws on nut and is locked using lock washer.Sealing combines sealing with O-ring using float grease seal, and is stamped at end cap
Threaded hole screws on lubricating cup C, facilitates lubrication.
As shown in figure 4, cylinder barrel 24, cylinder rod 25 are connected on the oil cylinder seat 23 of supporting rack 6, and oil cylinder memory liquid storage pressure oil, cylinder
Upper there are two hydraulic fluid port, one hydraulic fluid port is conveniently bought oil equipped with check valve, another hydraulic fluid port is connected with accumulator, storage in accumulator
The gas and hydraulic oil deposited form gas-liquid spring, realize tensioning and the buffering of rubber belt track 1.26 lower end of tensioning wheel link with
Supporting rack 6 is connected as a hinge, it can be achieved that link 26 is rotated relative to supporting rack 6.It is led equipped with tensioning among link
To wheel 3, upper end is connected with oil cylinder, and realizing that link 26 is rotated relative to hinge by the promotion of oil cylinder drives intermediate tensioning to lead
Tensioning is realized to wheel 3.
The operation principle of the present invention：Driving wheel 7 is directly installed on drive axle hub, drives driving wheel 7 to revolve by drive axle
Turn.Driving wheel 7 is engaged by the gear teeth with the tooth block of rubber belt track 1, and crawler belt rotation is driven.Rubber belt track 1 drives by frictional force
Tensioning guide wheel 3, carrying roller 4, directive wheel 5 rotate, and realize and its rolling friction.On the other hand, rubber belt track 1 is deposited with ground
In static friction, to provide the driving force of negative direction for vehicle, and then vehicle walking is driven.
The running gear is driven using vehicle bridge, and power transmission sequence is：
→ carrying roller 4
Drive axle → 7 → rubber belt track of driving wheel, 1 → tensioning guide wheel 3
→ directive wheel 5
Driving wheel 7 is directly installed on drive axle hub, drives driving wheel 7 to rotate by drive axle.
Driving wheel 7 is engaged by the gear teeth with the tooth block of rubber belt track 1, and crawler belt rotation is driven.
Rubber belt track 1 drives tensioning guide wheel 3, carrying roller 4, directive wheel 5 to rotate by frictional force, realizes and its rolling
Friction.On the other hand, there are static friction with ground for rubber belt track 1, to provide the driving force of negative direction for vehicle, and then drive
Vehicle is walked.
Therefore, the driving force of vehicle engages passing power, rubber by the gear teeth of driving wheel 7 and the tooth block of rubber belt track 1
The tooth block service life of glue crawler belt 1 directly determines the service life of rubber belt track 1.
Train carrying sequence is：
1 → carrying roller of rubber belt track, 4 → bearing → 6 → bearing of supporting rack → 7 → drive axle of driving wheel → vehicle frame
Rubber belt track 1 transmits load with carrying roller 4,5 rolling friction of directive wheel.
Carrying roller 4, directive wheel 5 transmit load by bearing and supporting rack 6.
Supporting rack 6 transmits load by bearing and driving wheel 7.
Driving wheel 7 is bolted transmission load with drive axle.
High-speed overload triangle crawler belt wheel assembly index is as follows：
(1) crawler belt travel speed >=50km/h
(2) wheel carries out switching time≤20min
(3) single crawler belt wheel assembly bearing capacity >=8t, can carry the vehicle of 24t
Single crawler belt wheel assembly weight≤2t
The specific advantage of the present invention is as follows：
1. the contact area compared to conventional tyre is similar to a line, the ground contact length and width of Athey wheel carry
It rises, reduces grounding pressure, improve the passability of vehicle.
2. Athey wheel is made monoblock type to be assembled in the drive shaft of vehicle end, driving wheel 7 is convenient with drive shaft turns
Quick universal, meets the Quick universal in 20 minutes, and the degree of modularity is high.
3. rubber belt track wheel-drive mode using forcing to drive, forces have driving angle on 1 inner surface of rubber belt track of driving,
Passing power is engaged by the drive pin of driving angle and driving wheel 7.Rubber belt track 1 forces the core technology of driving to make driving wheel 7
It (promotes the drive pin pitch that ratio refers to driving wheel 7 with the suitable ratio that promoted and exceeds the hundred of track drive angular pitch relatively
Divide ratio).When driving wheel 7 and crawler belt engage, driving angle can be deformed under the action of drive pin, and deformation accumulation easily leads to jump tooth
Deng.Compared with friction-driven, forces driving energy to provide more firm torque and transmit and non-slip；In addition, suitably promoting ratio
It can guarantee that there is no planing phenomenons between drive pin and driving angle, to have less power loss and oil than friction-driven
Consumption.Under the conditions of high-speed overload, selects and force type of drive.
4. the present invention is using centreless gold rubber belt track, compared with steel crawler belt, rubber belt track has noise low, traveling
Steadily, not the characteristics of not damaging road surface.Compared with having core gold rubber belt track, centreless gold rubber belt track is high with mobility, noise is low,
It is light-weight and the advantages that be not easy de- band.In order to improve its transverse direction and torsional rigid, existing centreless gold rubber belt track is in main curtain
The peripheral side or inner circumferential side of line layer are disposed with multiple biasing cord plys, it is ensured that crawler belt is when ring train rotates, lateral shear
The distribution of stress is symmetrical；Otherwise, crawler belt can generate lateral displacement in motion, and induce abrasion or de- band.And have core
Golden rubber belt track is compared, and the travel speed of centreless gold rubber belt track can reach 50km/h, and traveling is more steady, can bear weight
It carries.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to the technical spirit of the present invention, any simple modification and same variation are made to above example, each fall within the guarantor of the present invention
Within the scope of shield.
Claims (8)
1. a kind of replaceable triangle crawler belt wheel assembly of high-speed overload, including rubber belt track (1), supporting rack (6), driving wheel (7), lead
To wheel (5), tensioning guide wheel (3), tensioning apparatus (2) and carrying roller (4), the rubber belt track (1) is coated in outer ring and is driven
(7), directive wheel (5), tensioning guide wheel (3) and carrying roller (4) are taken turns, driving wheel (7), tensioning guide wheel (3), is opened directive wheel (5)
Tight device (2) and carrying roller (4) are mounted on supporting rack (6)；Driving wheel (7) is in rubber belt track (1) top, is taken turns with chassis
Axis is connected；Directive wheel (5) and tensioning guide wheel (3) are respectively at the bottom both ends of rubber belt track (1), it is characterized in that：It is described
Carrying roller (4) to be installed on directive wheel (5) and tensioning guide wheel (3) intermediate；The tensioning apparatus (2) includes oil cylinder, accumulator
With tensioning wheel link (26), oil cylinder memory liquid storage pressure oil, the interior gas and hydraulic oil stored of accumulator, oil cylinder and accumulator phase
Connection forms gas-liquid spring, and oil cylinder is connected on the oil cylinder seat (23) of supporting rack (6), tensioning wheel link (26) lower end and branch
Support (6) is connected as a hinge, and tensioning wheel link (26) is intermediate to be equipped with tensioning guide wheel (3), tensioning wheel link
(26) upper end is connected with oil cylinder.
2. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 1, it is characterized in that：The carrying roller
(4) shape and structure is identical as directive wheel (5), tensioning guide wheel, and the size of carrying roller (4) is less than directive wheel (5).
3. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 1, it is characterized in that：Support frame as described above
(6) be connected with driving wheel (7) by two driving wheel taper roll bearings (10), driving wheel taper roll bearing (10) it is interior
Circle coordinates with driving wheel (7), and outer ring coordinates with supporting rack (6).
4. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 3, it is characterized in that：The guiding
Wheel (5), tensioning guide wheel (3) and carrying roller (4) pass through directive wheel baffle, tensioning guide wheel baffle and load-bearing baffle (12)
On supporting rack (6), one end of directive wheel baffle, tensioning guide wheel baffle and load-bearing baffle (12) is solid by two bolts
It is scheduled on supporting rack (6), directive wheel baffle, tensioning guide wheel baffle and load-bearing baffle (12) are also stuck in guide wheel shaft, tensioning is led
To on the slot of wheel shaft and load-bearing wheel shaft.
5. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 1, it is characterized in that：The driving wheel
(7) it is connected with chassis wheel shaft by 10 bolts at, the limit of driving wheel taper roll bearing (10) relies on driving wheel (7) axis
It shoulder and is fixed by bolts on driving wheel (7) baffle.
6. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 1, it is characterized in that：The directive wheel
Axis, tensioning guide wheel axis and load-bearing wheel shaft are all made of the form of semiaxis, directive wheel (5), tensioning guide wheel (3) and carrying roller
Wheel (22) be connected respectively with wheel shaft by two taper roll bearings, bearing inner race and wheel shaft coordinate, outer ring and wheel
Wheel hub match, axial limiting relies on the shaft shoulder, while being fixed by nut and lock washer in shaft end.
7. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 5 or 6, it is characterized in that：The drive
The both sides of the driving wheel taper roll bearing (10) of driving wheel (7) are sealed with driving wheel outside framework oil seal (11), and on end cap
Lubricating cup A (8) is installed；The sealing of the taper roll bearing of directive wheel (5), tensioning guide wheel (3) and carrying roller (4) is using the oil that floats
Envelope combines sealing with O-ring, and lubricating cup B (8) is installed at end cap.
8. the replaceable triangle crawler belt wheel assembly of a kind of high-speed overload according to claim 7, it is characterized in that：The rubber
Crawler belt (1) selects centreless gold rubber belt track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178153.3A CN108340978A (en) | 2018-03-05 | 2018-03-05 | A kind of replaceable triangle crawler belt wheel assembly of high-speed overload |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178153.3A CN108340978A (en) | 2018-03-05 | 2018-03-05 | A kind of replaceable triangle crawler belt wheel assembly of high-speed overload |
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| Publication Number | Publication Date |
|---|---|
| CN108340978A true CN108340978A (en) | 2018-07-31 |
Family
ID=62960101
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810178153.3A Pending CN108340978A (en) | 2018-03-05 | 2018-03-05 | A kind of replaceable triangle crawler belt wheel assembly of high-speed overload |
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Cited By (6)
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| CN109432658A (en) * | 2018-10-31 | 2019-03-08 | 安徽工程大学 | A kind of crawler type firefighting robot |
| CN110525529A (en) * | 2019-08-29 | 2019-12-03 | 徐工集团工程机械有限公司 | A kind of triangle Athey wheel and its passive type guidance system and sliding tooth guiding device |
| CN111959626A (en) * | 2019-05-20 | 2020-11-20 | 北京三兴汽车有限公司 | Crawler-type quick-change traveling system for automobile |
| CN113500610A (en) * | 2021-07-19 | 2021-10-15 | 浙江大学台州研究院 | Underwater harvesting robot |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114514872A (en) * | 2022-04-20 | 2022-05-20 | 江苏科翔制泵有限公司 | Agricultural irrigation transport vehicle with strong obstacle crossing capability and use method thereof |
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| CN109432658A (en) * | 2018-10-31 | 2019-03-08 | 安徽工程大学 | A kind of crawler type firefighting robot |
| CN111959626A (en) * | 2019-05-20 | 2020-11-20 | 北京三兴汽车有限公司 | Crawler-type quick-change traveling system for automobile |
| CN110525529A (en) * | 2019-08-29 | 2019-12-03 | 徐工集团工程机械有限公司 | A kind of triangle Athey wheel and its passive type guidance system and sliding tooth guiding device |
| CN110525529B (en) * | 2019-08-29 | 2024-04-02 | 江苏徐工工程机械研究院有限公司 | Triangular crawler wheel, passive guide system thereof and driving tooth guide device |
| CN113500610A (en) * | 2021-07-19 | 2021-10-15 | 浙江大学台州研究院 | Underwater harvesting robot |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114514872A (en) * | 2022-04-20 | 2022-05-20 | 江苏科翔制泵有限公司 | Agricultural irrigation transport vehicle with strong obstacle crossing capability and use method thereof |
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