CN109484165A - A kind of vehicle Wheels group arrangement of planetary gear train and toothed belt transmission - Google Patents
A kind of vehicle Wheels group arrangement of planetary gear train and toothed belt transmission Download PDFInfo
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- CN109484165A CN109484165A CN201811289869.7A CN201811289869A CN109484165A CN 109484165 A CN109484165 A CN 109484165A CN 201811289869 A CN201811289869 A CN 201811289869A CN 109484165 A CN109484165 A CN 109484165A
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- wheel
- assembly
- planetary gear
- tensioning wheel
- tensioning
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
Abstract
The invention belongs to Vehicle Engineering corollary equipment fields, and disclose the vehicle Wheels group arrangement of a kind of planetary gear train and toothed belt transmission, it includes axially being sequentially arranged and mutually embedding incorporated left support module, intermediate transmission module and right support module, center wheel assembly, planetary wheeling assembly, tensioning wheel assembly, guide wheel assemblies and synchronous belt are wherein provided in intermediate transmission module, the various components for corresponding to intermediate transmission module are executed positioning and the sealing etc. of left and right two axial ends by left and right rack module.Through the invention, the advantage of V belt translation, chain drive and gear drive respectively can be integrated, toothed belt transmission is accurate, it is fricton-tight when work, with constant transmission ratio, stable drive and without being lubricated, entire weight is significantly reduced, therefore it can not only preferably solve the problems, such as the climbing of vehicle, across ditch, a variety of obstacle detourings such as cross vertical wall, and equally there is cross-country traveling ability and fast moving property in irregular landform.
Description
Technical field
The invention belongs to Vehicle Engineering corollary equipment fields, more particularly, to a kind of planetary gear train and toothed belt transmission
Vehicle Wheels group arrangement.
Background technique
The mechanical equipment that the wheel group of vehicle is made of wheel and axis, bearing and bearing housing etc..The configuration of wheel group is determined
Determined a variety of driving performances such as carrying, the vibration of resistance to thump of vehicle, and climbing, across ditch, a variety of obstacle detourings such as cross vertical wall
Function, therefore important influence is played for automotive comprehensive performance.Currently used wheel group configuration mainly include it is common it is wheeled,
Crawler type and active swing arm are wheeled etc..
Specifically, energy benefit of the common wheeled configuration since tire and ground are rolling friction, in motion process
It is higher with efficiency, and level land movement speed is very fast, but common wheeled configuration is primarily suitable for the field environment and road of simple flat
Road environment, passability is poor in the environment that mountainous region, soft sand, marsh, gully etc. have the geographic properties such as precipitous, depression.Crawler belt
Formula configuration and contact area of ground are big, have stronger road holding, and crawler belt span is longer, can adapt to discrete rubble, gully
Etc. non-structural landform, but conventional track formula configuration, when in face of compared with gully and compared with high obstacle, handling capacity is still poor.I.e.
The endless track configurations with swing arm can be used, its crawler belt and frictional ground force during traveling are bigger than normal, add metal track sheet
Body abrasion energy consumption is serious, power loss is significant, running efficiency is low, and rubber belt track then has that rubber is easy to fall off and tearing etc. is asked
Topic, these all limit caterpillar development and application.
In addition, having the quick locomitivity of common wheeled configuration, while each for configuration wheeled for active swing arm
Wheel group is assemblied in swing arm end, can realize that vehicle bottom height off the ground is continuously adjustable, accordingly passes through pendulum by adjusting swing arm motion
Arm adjusting can improve to a certain extent directly by the barrier of certain altitude and pass through efficiency.However, further research
Showing when in face of higher vertical obstacle and compared with gully, it is larger that difficulty is crossed in swing arm adjusting completion, and slow by speed,
Efficiency is lower, while the active deformation of swing arm can bring biggish energy consumption and time to waste.In particular, swing arm wheel construction meeting
So that vehicle is not easy to install vibration reduction and cushioning system additional, impact resistance of the vehicle on the unstructured ground in field is affected.Accordingly
Ground, this field need to find more perfect solution, optimize to conform better to modern vehicle engineering in wheeled configuration
Design especially realizes that wheel higher efficiency smoothly crosses the technical need of large-scale obstacle.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of planetary gear train and toothed belt transmissions
Vehicle Wheels group arrangement, wherein by the signature analysis of integrated structure structural mechanics mechanism study and planetary gear train transmission condition,
For between the contexture and its key component of vehicle wheel group installation relation and the kind of drive re-started optimization design,
Accordingly not only can by compact-sized, layout cleverly in a manner of complete the assembling settings of multiple complex components, even if but also in face of climbing
Slope, across ditch, cross vertical wall and irregular landform etc. whens can also have cross-country traveling ability and fast moving property, while effectively avoiding putting
The active deformation of arm etc operates.
Correspondingly, it is proposed, according to the invention, provide the vehicle Wheels group arrangement of a kind of planetary gear train and toothed belt transmission, feature
Be, this vehicle Wheels group arrangement include axially be sequentially arranged and mutually embedding incorporated left support module, centre
Transmission module and right support module, in which:
The left support module includes the left support as main structure and the center-wheel arbor that is mounted on the left support
Holder assembly, planet wheel bearing holder assembly, revolving platform component, the first tensioning wheel positioning component and centre wheel seal assembly are held,
In the centre wheel bearing block assembly be set to the central location of the left support, and for being in the intermediate transmission module
Center wheel assembly execute left side location and installation；The quantity of the planet wheel bearing holder assembly is three and structure is identical, they
It is symmetrically distributed around the periphery of the centre wheel bearing block assembly, and for the correspondence in the intermediate transmission module
Three planetary wheeling assemblies execute the location and installation in left side, are then sealed respectively by planetary gear boring cover；The revolving platform group
Part is sheathed on the left hand external of the center wheel assembly, and for providing it support of revolution；The first tensioning wheel positioning group
Part is used to execute multiple tensioning wheel assemblies in the intermediate transmission module respectively the location and installation in left side, then passes through
First tensioning wheel cover board is closed；In addition, the centre wheel seal assembly then executes left side shaft end to the center-wheel arbor component
Seal protection；
The intermediate transmission module is between the left support module and the right support module, and in addition to the center
It further include the identical guide wheel assemblies of multiple structures, synchronization except wheel assembly, the planetary wheeling assembly and the tensioning wheel assembly
Band and left and right bracket seal assembly, wherein the central axis of the center wheel assembly is remained connected to drive motor shaft, the planet
The planet axis of wheel assembly keeps remaining connected to the semiaxis of wheel of vehicle；The synchronous belt be inside and outside all with tooth form structure
It makes, and covers in the center wheel assembly as driving pulley on the planetary wheeling assembly as driven pulley, thus lead to
It crosses the tensioning wheel assembly and the guide wheel assemblies executes and pre-tighten and be oriented to, by power from the center wheel assembly via described
Synchronous belt is transferred to three planetary wheeling assemblies of periphery, and then realizes moving synchronously for each wheel；In addition, the left and right bracket
Seal assembly is used to that the left support module, right support module to be made to be fitted into the left side for being seal-installed on the intermediate transmission module respectively
Right two sides；
The right support module includes the right support as main structure and the center-wheel arbor that is mounted on the right support
Holder assembly, planet wheel bearing holder assembly, the second tensioning wheel positioning component, planetary gear seal assembly and medial support structures are held,
In the centre wheel bearing block assembly be set to the central location of the right support, and for being in the intermediate transmission module
Center wheel assembly execute right side location and installation, then sealed by centre wheel boring cover；The planet wheel bearing holder assembly
Quantity be three and structure is identical, they are symmetrically distributed around the periphery of the centre wheel bearing block assembly, and for pair
Three planetary wheeling assemblies of correspondence in the intermediate transmission module execute the location and installation on right side；Second tensioning wheel positioning
Component is used to execute multiple tensioning wheel assemblies in the intermediate transmission module respectively the location and installation on right side, then leads to
The second tensioning wheel cover board is crossed to be closed；The planetary gear seal assembly then executes right side shaft end to the planet wheel spindle component respectively
Seal protection；In addition, the quantity of the medial support structures be it is multiple, they be interspersed and respectively with the left support and
Right support is fixedly linked.
As it is further preferred that for the centre wheel seal assembly, it preferably include centre wheel seal cover board,
Packet skeleton rotary shaft lip-shaped sealed ring and centre wheel transparent cover in FB type, wherein the centre wheel seal cover board by screw and it is described in
Heart wheel transparent cover is connected, and packet skeleton rotary shaft lip-shaped sealed ring is embedded in the FB type is installed on the centre wheel transparent cover, the center
Wheel transparent cover is connected with the side of the central shaft hole of the left support.
As it is further preferred that it preferably includes tensioning wheel for the first, second tensioning wheel positioning component
Locating piece and hex screw, wherein the hex screw is coupled with the threaded hole on the tensioning wheel locating piece, and the tensioning wheel is fixed
Position block then passes through screw and the left support is connected, and is achieved in the position adjustment of tensioning wheel and fixes.
As it is further preferred that it preferably includes revolving platform fixed plate, returns for the revolving platform component
Turn platform pressing plate, revolving platform and revolving platform transition plates, wherein the revolving platform transition plates is connected with the left support, this time
Turn platform and the left support and the revolving platform transition plates cooperates and installs, which is fixed by screw
On the left support, which is fixed by screws in the revolving platform transition plates.
As it is further preferred that for each planet wheel bearing holder assembly on the left and right rack module, it
Structure it is identical and respectively preferably include planetary gear sealing baffle, packet skeleton rotary shaft lip oil seal washer and planetary gear in FB type
Bearing block, wherein the planetary gear sealing baffle is connected by screw with the planet wheel bearing seat, and packet skeleton rotates in the FB type
The oil seal washer of axis lip shape is connected with the planet wheel bearing seat, the planetary gear of the planet wheel bearing seat and the left support, right support
Hole correspondence matches.
As it is further preferred that for each centre wheel bearing block assembly on the left and right rack module, it
Structure it is identical and respectively preferably include centre wheel sealing baffle, packet skeleton rotary shaft lip oil seal washer and centre wheel in FB type
Bearing block, wherein the centre wheel sealing baffle is connect by screw with the centre wheel bearing block, and packet skeleton rotates in the FB type
The oil seal washer of axis lip shape is connect with the centre wheel bearing block, the centre wheel of the centre wheel bearing block and the left support, right support
Hole matches respectively.
As it is further preferred that their quantity is equal in the row for the planetary gear seal assembly
Identical structure is presented in the quantity and structure of star wheel component, and respectively including packet skeleton rotary shaft lip in planetary gear transparent cover, FB type
Shape oil seal washer and planetary gear seal cover board, wherein the planetary gear seal cover board is connected by screw with the planetary gear transparent cover, should
The rotary shaft lip oil seal washer of packet skeleton is embedded in FB type is installed on the planetary gear transparent cover connection, the planetary gear transparent cover with it is described
The side of the planetary gear axis hole of right support is connected.
As it is further preferred that quantity is three and structure is identical for the planetary wheeling assembly, they are each
It, wherein should be from from driven pulley roller bearing, planet axis, round nut, round nut stop washer and driven pulley is preferably included
The inner ring of movable belt pulley roller bearing is matched with the planet axis, its outer ring is matched with the planet wheel bearing seat；The row
Star axis and the driven pulley are matched by involute spline；The round nut is cooperated with the round nut with stop washer, is used
It realizes the axially position of driven pulley, thereby guarantees that the stable rotation of driven pulley.
As it is further preferred that for the center wheel assembly, preferably include driving pulley roller bearing, in
Mandrel, round nut, round nut stop washer and driving pulley, the wherein inner ring of the driving pulley roller bearing and the center
Axis matches, its outer ring is matched with the centre wheel bearing block；The central axis and the driving pulley pass through involute spline
It matches；The round nut and the round nut stop washer are used to realize the axially position of driving pulley, guarantee that driving pulley is steady
Fixed rotation.
As it is further preferred that quantity is preferably two and structure is identical for the tensioning wheel assembly, it
Respectively preferably include tensioning wheel axle sleeve, tensioning wheel baffle, the oil seal washer of packet skeleton rotary shaft lip, tensioning wheel drive in FB type
Axis, tensioning wheel axial fixing plate, tensioning wheel and angular contact ball bearing；Wherein the inner ring of the angular contact ball bearing and the tensioning wheel drive
Moving axis matches, its outer ring is matched with the tensioning wheel；The tensioning wheel axial fixing plate is connect with the end face of this tensioning wheel, real
The axial restraint of existing tensioning wheel；The oil seal washer of packet skeleton rotary shaft lip, tensioning wheel baffle and tensioning wheel axial restraint in the FB type
Plate is connected with each other, and realizes the sealing of the angular contact ball bearing；The tensioning wheel axle sleeve and the tensioning wheel drive shaft cooperate, the tensioning
The both ends of wheel drive shaft are connected with the left and right bracket respectively, and are connected by hex screw with the tensioning wheel locating piece.
As it is further preferred that quantity is preferably four and structure is identical for the guide wheel assemblies, it
Respectively include directive wheel baffle, the oil seal washer of packet skeleton rotary shaft lip, directive wheel axial fixing plate, guide wheel shaft in FB type
Set, angular contact ball bearing, guiding axis and directive wheel；Wherein the inner ring of angular contact ball bearing is matched with the guiding axis, it outer
Circle cooperates with the directive wheel；The directive wheel axial fixing plate is connect with the end face of this directive wheel, realizes the axial restraint of directive wheel；
The oil seal washer of packet skeleton rotary shaft lip, directive wheel baffle and directive wheel axial fixing plate are connected with each other in the FB type, described in realization
The sealing of angular contact ball bearing；The directive wheel axle sleeve and the guiding axis cooperate, and there is threaded hole in the both ends end face of the guiding axis and leads to
Screw is crossed to be connected with the left and right bracket.
As it is further preferred that for the left and right bracket seal assembly, preferably include positioning support column and
Bracket sealing plate, wherein the bracket sealing plate is connected into an entirety by screw by the positioning support column, and passes through screw
The positioning support column is connect with the left and right bracket.
As it is further preferred that for the synchronous belt, preferably by working face and toothed belt with tooth form
Tooth socket engagement be driven, and the fibrous material or metal material group that its strength layer is preferably high by tensile strength, elongation is small
At.
In general, the above technical scheme conceived by the present invention compared with prior art, mainly has technology below
Advantage:
1, by the signature analysis of integrated structure structural mechanics mechanism study and planetary gear train transmission condition, for vehicle wheel
Installation relation and the kind of drive between the contexture and its key component of group have re-started optimization design, accordingly not only may be used
By compact-sized, layout cleverly in a manner of complete the assembling settings of multiple complex components, and entire transmission process with it is existing
Transmission system is compared, and can realize high-precision Synchronous Transmission in the case where not needing lubrication, the planetary gear fluctuation of speed is overcome to rise
While volt, while overall weight substantially reduces, and improves the efficiency and convenience of transmission operation；
2, planetary gear train of the present invention adds the drive line of synchronous pulley, and more actual test shows can
The advantage of V belt translation, chain drive and gear drive respectively is combined, not only can get the accurate synchronization action of transmission, Er Qiegong
It is fricton-tight when making, there is constant transmission ratio, stable drive has buffering, damping capacity, and noise is low, and transmission efficiency is high, reachable
0.98；
3, vehicle Wheels group arrangement energy-saving effect of the invention is obvious, and maintenance is convenient, is not required to lubricate, and maintenance cost is low,
The climbing of vehicle can be well solved, across ditch, a variety of obstacle detouring problems such as cross vertical wall, and same in irregular landform
With cross-country traveling ability and fast moving property.
Detailed description of the invention
Fig. 1 is the overall structure diagram according to vehicle Wheels group arrangement constructed by the preferred embodiment of the present invention；
Fig. 2 is the overall structure main view of vehicle Wheels group arrangement shown in Fig. 1；
Fig. 3 is the overall structure of the explosion figure of vehicle Wheels group arrangement shown in Fig. 1；
Fig. 4 is the Structure explosion diagram that left support module of the invention is shown as demonstration；
Fig. 5 is the Structure explosion diagram of the centre wheel seal assembly in left support module shown in Fig. 4；
Fig. 6 is the Structure explosion diagram of the tensioning wheel positioning component in left support module shown in Fig. 4；
Fig. 7 is the Structure explosion diagram of the revolving platform component in left support module shown in Fig. 4；
Fig. 8 is the Structure explosion diagram of the planet wheel bearing holder assembly in left support module shown in Fig. 4；
Fig. 9 is the Structure explosion diagram of the centre wheel bearing block assembly in left support module shown in Fig. 4；
Figure 10 is the Facad structure explosive view that right support module of the invention is shown as demonstration；
Figure 11 is the backside structure explosive view that right support module of the invention is shown as demonstration；
Figure 12 is the Structure explosion diagram of the planetary gear seal assembly in right support module shown in Figure 11；
Figure 13 is shown as the Structure explosion diagram of intermediate transmission module of the invention for demonstration；
Figure 14 is the Structure explosion diagram of the planetary wheeling assembly in intermediate transmission module shown in Figure 13；
Figure 15 is the Structure explosion diagram of the tensioning wheel assembly in intermediate transmission module shown in Figure 13；
Figure 16 is the Structure explosion diagram of the center wheel assembly in intermediate transmission module shown in Figure 13；
Figure 17 is the Structure explosion diagram of the guide wheel assemblies in intermediate transmission module shown in Figure 13；
Figure 18 is the Structure explosion diagram of the left and right bracket seal assembly in intermediate transmission module shown in Figure 13；
Figure 19 is to be shown as the structural schematic diagram that Wheels group arrangement of the invention is assemblied on wheel for demonstration.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is according to the overall structure diagram of vehicle Wheels group arrangement constructed by the preferred embodiment of the present invention, Fig. 2 and figure
3 be the overall structure main view and overall structure of the explosion figure of vehicle Wheels group arrangement shown in Fig. 1 respectively.As shown in Figure 1-Figure 3, this
Vehicle Wheels group arrangement mainly include axially be sequentially arranged and mutually embedding incorporated left support module, intermediate transmission
The functional modules such as module and right support module will carry out one by one specific explanations explanation to it below.
The left support module I includes the left support as main structure and the centre wheel that is mounted on the left support
Bearing block assembly, planet wheel bearing holder assembly, revolving platform component, the first tensioning wheel positioning component and centre wheel seal assembly,
Wherein the centre wheel bearing block assembly 006 is set to the central location of the left support 4, and for in the intermediate transmission
Center wheel assembly 020 in module executes the location and installation in left side；The quantity of the planet wheel bearing holder assembly 004,007,008 is
Three and structure it is identical, they are symmetrically distributed around the periphery of the centre wheel bearing block assembly 006, and for being in institute
The location and installation that three planetary wheeling assemblies of correspondence 018,022,025 in intermediate transmission module execute left side is stated, is then led to respectively
Planetary gear boring cover 1,3,5 is crossed to be sealed；The revolving platform component 003 is sheathed on the left hand external of the center wheel assembly, and
For providing it support of revolution；The first tensioning wheel positioning component is used for multiple in the intermediate transmission module
Tensioning wheel assembly 019,027 executes the location and installation in left side respectively, is then closed by the first tensioning wheel cover board 2,6；This
Outside, which then executes the seal protection of left side shaft end to the center-wheel arbor component.
More specifically, first as shown in Fig. 4 demonstration, left support module may include centre wheel seal assembly 001,
Bearing up pulley positioning component 002 and 005, revolving platform component 003, planet wheel bearing holder assembly 004,007 and 008, centre wheel bearing
Holder assembly 006, planetary gear boring cover 1,3 and 5, tensioning wheel cover board 2 and 6 and left support 4 etc..002 He of tensioning wheel positioning component
005 structure can be identical, and planet wheel bearing holder assembly 004,007 can be identical with 008 structure, three planetary gear boring covers 1,
3,5 structures can identical and with 4 side of left support three planet axis holes be connected, the structure of tensioning wheel cover board 2 and 6 it is identical and with
Corresponding lid panel notches are connected on left support 4.
For centre wheel seal assembly 001, its structure is more specific as shown in figure 5, it is preferred that may include that centre wheel is close
Packet skeleton rotary shaft lip oil seal washer 8, centre wheel transparent cover 9 in capping plate 7, FB type.Wherein centre wheel seal cover board 7 passes through screw
It is connected with centre wheel transparent cover 9, packet skeleton rotary shaft lip oil seal washer 8 is connected with centre wheel transparent cover 9 in FB type, centre wheel transparent cover 9
It is connected with the side of 4 central shaft hole of left support.
The structure of tensioning wheel positioning component 002 and 005 is specific as shown in fig. 6, it is preferred that may include tensioning wheel locating piece 10, six
Angle screw 11.Wherein the threaded hole of hex screw 11 and tensioning wheel locating piece 10 cooperates, tensioning wheel locating piece 10 by screw with
Left support 4 is connected, and realizes the adjustment and fixation of tensioning wheel position.
The structure of revolving platform component 003 is specific as shown in fig. 7, preferably including revolving platform fixed plate 12, revolving platform
Pressing plate 13, revolving platform 14, revolving platform transition plates 15.Wherein revolving platform transition plates 15 is connected with left support 4, revolving platform
14 cooperate with left support 4 and revolving platform transition plates 15, and revolving platform pressing plate 13 is fixed by screws on left support 4, turn round
Platform fixed plate 12 is fixed by screws in revolving platform transition plates 15.
The structure of planet wheel bearing holder assembly 004,007,008 is specific as shown in figure 8, it is preferred that may include planetary gear sealing gear
Packet skeleton rotary shaft lip oil seal washer 17, planet wheel bearing seat 18 in FB type at plate 16, planetary gear.Wherein planetary gear sealing baffle
16 are connected by screw with planet wheel bearing seat 18, packet skeleton rotary shaft lip oil seal washer 17 and planetary gear in FB type at planetary gear
Bearing block 18 is connected, and the planet wheel bore of planet wheel bearing seat 18 and left support 4 cooperates.
In addition, the structure of centre wheel bearing block assembly 006 is specific as shown in figure 9, it preferably may include centre wheel sealing gear
Packet skeleton rotary shaft lip oil seal washer 20, centre wheel bearing block 21 in FB type at plate 19, centre wheel.Centre wheel sealing baffle 19 is logical
It crosses screw to connect with centre wheel bearing block 21, packet skeleton rotary shaft lip oil seal washer 20 and centre wheel bearing in FB type at centre wheel
Seat 21 connects, and the center wheel bore of centre wheel bearing block 21 and left support 4 cooperates.
Figure 10 is the Facad structure explosive view that right support module of the invention is shown as demonstration, and Figure 11 is to be used for
Demonstration is shown as the backside structure explosive view of right support module of the invention.As shown in Figure 10 and Figure 11, the right support
Module ii includes the right support as main structure and the centre wheel bearing block assembly, the planetary gear that are mounted on the right support
Bearing block assembly, the second tensioning wheel positioning component, planetary gear seal assembly and medial support structures, wherein the centre wheel bearing block
Component 010 is set to the central location of the right support 29, and for the centre wheel group in the intermediate transmission module
Part 020 executes the location and installation on right side, is then sealed by centre wheel boring cover 30；The planet wheel bearing holder assembly 009,
011,012 quantity is three and structure is identical, they are symmetrically distributed around the outer of the centre wheel bearing block assembly 010
It encloses, and for executing determining for right side to three planetary wheeling assemblies of correspondence 018,022,025 in the intermediate transmission module
Position installation；The second tensioning wheel positioning component be used for in the intermediate transmission module multiple tensioning wheel assemblies 019,
027 executes the location and installation on right side respectively, is then closed by the second tensioning wheel cover board 31,32；The planetary gear sealing group
Part 015,016,017 executes the seal protection of right side shaft end to the planet wheel spindle component respectively；In addition, the intermediate supports
The quantity of structure be it is multiple, they are interspersed and are fixedly linked respectively with the left support and right support.
More specifically, the preferred embodiment that can be provided referring again to Figure 10 and Figure 11, right support module II may include planet
Wheel bearing seat component 009,011,012, centre wheel bearing block assembly 010, tensioning wheel positioning component 013,014, planetary gear sealing
Component 015,016,017, for example three big intermediate supports 22,24,27, for example four small intermediate supports 23,25,26,28,
Right support 29, centre wheel boring cover 30, tensioning wheel cover board 31,32.
009,011,012 structure of planet wheel bearing holder assembly it is identical and with the planet wheel spindle in left support module 4
Hold the centre wheel that holder assembly 004,007 is identical with 008 structure, on centre wheel bearing block assembly 010 and left support module 4
006 structure of bearing block assembly is identical.Tensioning wheel positioning component 013,014 structure are identical, and in left support module 4
Tensioning wheel positioning component 002,005 structure are identical.Three 015,016,017 structures of planetary gear seal assembly are identical,
Three big intermediate supports, 22,24,27 structure is identical, and four small 23,25,26,28 structure of intermediate supports is identical.
Three big intermediate supports 22,24,27 and four small intermediate supports 23,25,26,28 respectively with left support 4 and right branch
Frame 29 is connected, and centre wheel boring cover 30 is connected with the central shaft hole of 29 side of right support, on tensioning wheel cover board 31,32 and right support 29
Corresponding lid panel notches are connected.The planet wheel bearing in planet wheel bearing holder assembly 009,011,012 in right support module II
Seat 18 and the planet wheel bore of right support 29 cooperate, the center-wheel arbor in centre wheel bearing block assembly 010 in right support module II
The center wheel bore for holding seat 21 and right support 29 cooperates, the tensioning in tensioning wheel positioning component 013,014 in right support module II
Wheel locating piece 10 is connected by screw with right support 29.
The structure of planetary gear seal assembly 015,016,017 is specifically as shown in figure 12, preferably include planetary gear transparent cover 33,
Packet skeleton rotary shaft lip oil seal washer 34, planetary gear seal cover board 35 in FB type at planetary gear sealing.Planetary gear seal cover board 35
It is connected by screw with planetary gear transparent cover 33, packet skeleton rotary shaft lip oil seal washer 34 and planetary gear in FB type at planetary gear sealing
Transparent cover 33 connects, and planetary gear transparent cover 33 is connected with the side of 29 planetary gear axis hole of right support.
Figure 13 is shown as the Structure explosion diagram of intermediate transmission module of the invention for demonstration.As shown in figure 13, institute
It states intermediate transmission module ii I to be between the left support module I and the right support module ii, and in addition to the centre wheel group
It further include that multiple structures are identical except part 020, the planetary wheeling assembly 018,022,025 and the tensioning wheel assembly 019,027
Guide wheel assemblies 021,023,024,026, synchronous belt 36 and left and right bracket seal assembly 028, wherein the center wheel assembly
020 central axis 55 is remained connected to drive motor shaft, and the planet axis of the planetary wheeling assembly keeps half with wheel of vehicle 81
Axis remains connected to；The synchronous belt 36 be inside and outside all with the construction of tooth form, and cover in described as driving pulley
Heart wheel assembly with as on the planetary wheeling assembly of driven pulley, from there through the tensioning wheel assembly and the guide wheel group
Part, which executes, to be pre-tightened and is oriented to, and power is transferred to from the center wheel assembly via the synchronous belt to three planets of periphery
Wheel assembly, and then realize moving synchronously for each wheel；In addition, the left and right bracket seal assembly 028 is for making the left support mould
Block, right support module are fitted into the left and right sides for being seal-installed on the intermediate transmission module respectively.Wherein, three planetary wheeling assemblies
018,022,025 structure can be identical, and tensioning wheel assembly 019,027 structure can be identical, guide wheel assemblies 021,023,
024,026 structure can be identical.
More specifically, the structure of tensioning wheel assembly 019,027 is specifically as shown in figure 15, tensioning wheel axle sleeve is preferably included
43,53, tensioning wheel baffle 44,52, packet skeleton rotary shaft lip oil seal washer 45,51 in FB type at tensioning wheel is tensioned wheel drive shaft
46, tensioning wheel axial fixing plate 47,50, tensioning wheel 48, angular contact ball bearing 49 at tensioning wheel.Angular contact ball bearing at tensioning wheel
49 inner rings and tensioning wheel drive shaft 46 cooperate, and outer ring and tensioning wheel 48 cooperate, tensioning wheel axial fixing plate 47,50 and tensioning wheel 48
End face connection, realizes the axial restraint of tensioning wheel, packet skeleton rotary shaft lip oil seal washer 45,51 and tensioning in FB type at tensioning wheel
Wheel baffle 44,52 is connect with tensioning wheel axial fixing plate 47,50, realizes the sealing of angular contact ball bearing 49 at tensioning wheel, tensioning
Axle sleeve 43,53 and tensioning wheel drive shaft 46 cooperate, be tensioned wheel drive shaft 46 both ends respectively with 29 phase of left support 4 and right support
Even, and by hex screw 11 it is connected with tensioning wheel locating piece 10.
The structure of center wheel assembly 020 is specifically as shown in figure 16, preferably includes driving pulley roller bearing 54,59, in
Mandrel 55, centre wheel round nut 56, centre wheel round nut stop washer 57, driving pulley 58.Driving pulley roller bearing 54,
59 inner rings and central axis 55 cooperate, and outer ring and centre wheel bearing block 21 cooperate, and central axis 55 and driving pulley 58 pass through involute
Spline fitted, centre wheel round nut 56 and centre wheel round nut stop washer 57 are used to realize that the axial direction of driving pulley 58 is fixed
Position guarantees the stable rotation of driving pulley.
The structure of planetary wheeling assembly 018,022,025 is specifically as shown in figure 14, preferably includes driven pulley roller bearing
37,42, planet axis 38, planetary gear round nut 39, planetary gear round nut stop washer 40, driven pulley 41.Driven pulley rolling
Sub- bearing 37,42 inner rings and planet axis 38 cooperate, and outer ring and planet wheel bearing seat 18 cooperate, and planet axis 38 and driven pulley 41 are logical
Involute spline cooperation is crossed, planetary gear round nut 39 and planetary gear round nut stop washer 40 are used to realize the axis of driven pulley
To positioning, guarantee the stable rotation of driven pulley.
The structure of guide wheel assemblies 021,023,024,026 specifically can be as shown in figure 17, preferably includes directive wheel baffle
60,69, packet skeleton rotary shaft lip oil seal washer 61,68 in FB type, directive wheel axial fixing plate 62,67, directive wheel at directive wheel
Axle sleeve 63, angular contact ball bearing 64 at directive wheel, guiding axis 65, directive wheel 66.At directive wheel 64 inner ring of angular contact ball bearing with
Guiding axis 65 cooperates, and outer ring and directive wheel 66 cooperate, and directive wheel axial fixing plate 62,67 is connect with 66 end face of directive wheel, realizes
The axial restraint of directive wheel 66, in directive wheel FB type packet skeleton rotary shaft lip oil seal washer 61,68 and directive wheel baffle 60,69 with
Directive wheel axial fixing plate 62,67 connects, and realizes the sealing of angular contact ball bearing 64 at directive wheel, directive wheel axle sleeve 63 and guiding
Axis 65 cooperates, and the both ends end face of guiding axis 65 has threaded hole to be connected by screw with left support 4 and right support 29.
The structure of left and right bracket seal assembly 028 specifically can be as shown in figure 18, preferably includes positioning support column 70, and first
The pairs of third bracket sealing plate 73,75 of bracket sealing plate 71, second support sealing plate 72,74, pairs of the 4th bracket sealing
Plate 76,79, pairs of the 5th bracket sealing plate 77,80 and the 6th bracket sealing plate 78.Positioning support column 70 will by screw
Bracket sealing plate 71 to 80 connects into an entirety, and is connect by screw positioning support column 70 with left support 4 and right support 29,
Realize the sealing of left and right bracket.
In addition, synchronous belt 36, which is preferably upper and lower surfaces, all has a tooth form, 36 sets of synchronous belt is in driving pulley 58 and driven
On belt wheel 41, and is pre-tightened and be oriented to by tensioning wheel 48 and directive wheel 66.
Referring to Figure 19, when the vehicle Wheels group arrangement of planetary gear train according to the invention and toothed belt transmission is assembled in wheel
On 81 when, the central axis 55 of center wheel assembly 020 and driving motor axis connection at this time, planetary wheeling assembly 018,022,025
Half axis connection of planet axis 38 and wheel 81, power are transferred to the planet of outer end three by synchronous belt 36 by center wheel assembly 020
Wheel assembly 018,022,025, to realize moving synchronously for each planetary gear.And when wheel 81 encounters large-scale obstacle, front-wheel quilt
Obstacle stops to lock, and becomes planetary gear rollover states at this time, the planetary gear set device of entire toothed belt transmission is along front planet axis
38 are overturn to surmount obstacles.
To sum up, the planetary gear train of institute's Curve guide impeller and the vehicle Wheels group arrangement of toothed belt transmission can integrate through the invention
The advantage of V belt translation, chain drive and gear drive respectively, toothed belt transmission is accurate, and when work is fricton-tight, has constant
Transmission ratio, stable drive have buffering, damping capacity, and noise is low；In addition, its transmission efficiency is high, up to 0.98, energy conservation is imitated
Fruit is obvious, and maintenance is convenient, is not required to lubricate, maintenance cost is low.This planetary gear set device not only can preferably solve vehicle
Climbing, across ditch, a variety of obstacle detouring problems such as cross vertical wall, and in irregular landform equally there is cross-country traveling ability and quickly
Mobility.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. the vehicle Wheels group arrangement of a kind of planetary gear train and toothed belt transmission, which is characterized in that this vehicle Wheels group arrangement includes edge
Axial direction be sequentially arranged and mutually embedding incorporated left support module, intermediate transmission module and right support module, in which:
The left support module (I) includes the left support as main structure and the center-wheel arbor that is mounted on the left support
Holder assembly, planet wheel bearing holder assembly, revolving platform component, the first tensioning wheel positioning component and centre wheel seal assembly are held,
In the centre wheel bearing block assembly (006) be set to the central locations of the left support (4), and for intermediate being passed in described
Center wheel assembly (020) on dynamic model block executes the location and installation in left side；The planet wheel bearing holder assembly (004,007,008)
Quantity is three and structure is identical, they are symmetrically distributed around the periphery of the centre wheel bearing block assembly (006), and are used for
Three planetary wheeling assemblies (018,022,025) of correspondence in the intermediate transmission module are executed with the location and installation in left side,
Then it is sealed respectively by planetary gear boring cover (1,3,5)；The revolving platform component (003) is sheathed on the center wheel assembly
Left hand external, and for providing it support of revolution；The first tensioning wheel positioning component is used for in the intermediate biography
Multiple tensioning wheel assemblies (019,027) on dynamic model block execute the location and installation in left side respectively, then pass through the first tensioning wheel cap
Plate (2,6) is closed；In addition, the centre wheel seal assembly (001) then executes left side shaft end to the center-wheel arbor component
Seal protection；
The intermediate transmission module (III) is between the left support module (I) and the right support module (II), and in addition to
Except the center wheel assembly (020), the planetary wheeling assembly (018,022,025) and the tensioning wheel assembly (019,027),
It further include the identical guide wheel assemblies of multiple structures (021,023,024,026), synchronous belt (36) and left and right bracket seal assembly
(028), wherein the central axis (55) of the center wheel assembly (020) is remained connected to drive motor shaft, the planetary wheeling assembly
(018,022,025) planet axis keeps remaining connected to the semiaxis of wheel of vehicle (81)；The synchronous belt (36) is inside and outside two
Side all has the construction of tooth form, and covers in the center wheel assembly as driving pulley and the planet as driven pulley
It on wheel assembly, executes and pre-tightens and guiding from there through the tensioning wheel assembly and the guide wheel assemblies, by power from described
Heart wheel assembly is transferred to three planetary wheeling assemblies of periphery via the synchronous belt, and then realizes moving synchronously for each wheel；
In addition, the left and right bracket seal assembly (028) is for making the left support module, right support module be fitted into sealing installation respectively
In the left and right sides of the intermediate transmission module；
The right support module (II) includes the right support as main structure and the center-wheel arbor that is mounted on the right support
Holder assembly, planet wheel bearing holder assembly, the second tensioning wheel positioning component, planetary gear seal assembly and medial support structures are held,
In the centre wheel bearing block assembly (010) be set to the central locations of the right support (29), and for being in the centre
Center wheel assembly (020) on transmission module executes the location and installation on right side, is then sealed by centre wheel boring cover (30)；
The quantity of the planet wheel bearing holder assembly (009,011,012) is three and structure is identical, they are symmetrically distributed around described
The periphery of centre wheel bearing block assembly (010), and for three planetary gear sets of correspondence in the intermediate transmission module
Part (018,022,025) executes the location and installation on right side；The second tensioning wheel positioning component is used for in the intermediate transmission
Multiple tensioning wheel assemblies (019,027) in module execute the location and installation on right side respectively, then pass through the second tensioning wheel cover board
(31,32) it is closed；The planetary gear seal assembly (015,016,017) then executes right side to the planet wheel spindle component respectively
The seal protection of shaft end；In addition, the quantity of the medial support structures be it is multiple, they be interspersed and respectively with the left branch
Frame and right support are fixedly linked.
2. vehicle Wheels group arrangement as described in claim 1, which is characterized in that for the revolving platform component, it is excellent
Choosing includes revolving platform fixed plate (12), revolving platform pressing plate (13), revolving platform (14) and revolving platform transition plates (15),
In the revolving platform transition plates be connected with the left support, the revolving platform and the left support and the revolving platform transition plates
Cooperate installation, which is fixed by screws on the left support, which passes through spiral shell
Nail is fixed in the revolving platform transition plates.
3. vehicle Wheels group arrangement as claimed in claim 1 or 2, which is characterized in that for each on the left and right rack module
For a planet wheel bearing holder assembly, their structure is identical and respectively preferably includes planetary gear sealing baffle (16), in FB type
Packet skeleton rotary shaft lip oil seal washer (17) and planet wheel bearing seat (18), wherein the planetary gear sealing baffle passes through screw and institute
It states planet wheel bearing seat to be connected, packet skeleton rotary shaft lip oil seal washer is connected with the planet wheel bearing seat in the FB type, the row
Bearing of planetary gear seat and the left support, the planet wheel bore of right support is corresponding matches；In addition, for the left and right rack module
On each centre wheel bearing block assembly for, their structure it is identical and respectively preferably include centre wheel sealing baffle (19),
Packet skeleton rotary shaft lip oil seal washer (20) and centre wheel bearing block (21) in FB type, wherein the centre wheel sealing baffle passes through spiral shell
Nail is connect with the centre wheel bearing block, and packet skeleton rotary shaft lip oil seal washer and the centre wheel bearing block connect in the FB type
It connects, which matches respectively with the center wheel bore of the left support, right support.
4. vehicle Wheels group arrangement as claimed in any one of claims 1-3, which is characterized in that for the centre wheel sealing group
For part (001), it preferably includes centre wheel seal cover board (7), packet skeleton rotary shaft lip-shaped sealed ring (8) and center in FB type
It takes turns transparent cover (9), wherein the centre wheel seal cover board is connected by screw with the centre wheel transparent cover, and packet skeleton rotates in the FB type
Axis lip-shaped sealed ring is embedded to be installed on the centre wheel transparent cover, the side of the centre wheel transparent cover and the central shaft hole of the left support
End is connected；And for the planetary gear seal assembly, their quantity is equal to the quantity and knot of the planetary wheeling assembly
Identical structure is presented in structure, and respectively close including packet skeleton rotary shaft lip oil seal washer in planetary gear transparent cover, FB type and planetary gear
Plate is covered, wherein the planetary gear seal cover board is connected by screw with the planetary gear transparent cover, packet skeleton rotary shaft in the FB type
Lip shape oil seal washer is embedded to be installed on the planetary gear transparent cover connection, the planetary gear axis hole of the planetary gear transparent cover and the right support
Side be connected.
5. the vehicle Wheels group arrangement as described in claim 1-4 any one, which is characterized in that for described first, second
For bearing up pulley positioning component, it preferably includes tensioning wheel locating piece (10) and hex screw (11), wherein the hex screw with should
Threaded hole on tensioning wheel locating piece is coupled, which then passes through screw and the left support is connected, thus
It realizes the position adjustment of tensioning wheel and fixes.
6. the vehicle Wheels group arrangement as described in claim 1-5 any one, which is characterized in that for the planetary wheeling assembly
Speech, quantity is three and structure is identical, and each preferably includes driven pulley roller bearing, planet axis, round nut, circle spiral shell
Female stop washer and driven pulley, wherein the inner ring of the driven pulley roller bearing is matched with the planet axis, it outer
Circle is matched with the planet wheel bearing seat；The planet axis and the driven pulley are matched by involute spline；The round nut
It is cooperated with the round nut with stop washer, for realizing the axially position of driven pulley, thereby guarantees that driven pulley is stablized
Rotation.
7. vehicle Wheels group arrangement as claimed in claim 6, which is characterized in that for the center wheel assembly, preferably
Including driving pulley roller bearing, central axis, round nut, round nut stop washer and driving pulley, the wherein driving pulley
The inner ring of roller bearing is matched with the central axis, its outer ring is matched with the centre wheel bearing block；The central axis and
The driving pulley is matched by involute spline；The round nut and the round nut stop washer are used to realize driving pulley
Axially position guarantees the stable rotation of driving pulley.
8. the vehicle Wheels group arrangement as described in claim 1-7 any one, which is characterized in that for the tensioning wheel assembly
Speech, quantity is preferably two and structure is identical, and each preferably includes packet in tensioning wheel axle sleeve, tensioning wheel baffle, FB type
The oil seal washer of skeleton rotary shaft lip, tensioning wheel drive shaft, tensioning wheel axial fixing plate, tensioning wheel and angular contact ball bearing；Wherein
The inner ring of the angular contact ball bearing is matched with the tensioning wheel drive shaft, its outer ring is matched with the tensioning wheel；The tensioning wheel
Axial fixing plate is connect with the end face of this tensioning wheel, realizes the axial restraint of tensioning wheel；Packet skeleton rotary shaft lip in the FB type
Oil seal washer, tensioning wheel baffle and tensioning wheel axial fixing plate are connected with each other, and realize the sealing of the angular contact ball bearing；The tensioning
Axle sleeve and the tensioning wheel drive shaft cooperate, and the both ends of the tensioning wheel drive shaft are connected with the left and right bracket respectively, and pass through
Hex screw is connected with the tensioning wheel locating piece.
9. vehicle Wheels group arrangement as claimed in claim 8, which is characterized in that for the guide wheel assemblies, quantity
Preferably four and structure it is identical, each includes directive wheel baffle, the oil seal washer of packet skeleton rotary shaft lip, guiding in FB type
Take turns axial fixing plate, directive wheel axle sleeve, angular contact ball bearing, guiding axis and directive wheel；Wherein the inner ring of angular contact ball bearing with
The guiding axis matches, its outer ring and the directive wheel cooperate；The directive wheel axial fixing plate is connect with the end face of this directive wheel,
Realize the axial restraint of directive wheel；The oil seal washer of packet skeleton rotary shaft lip, directive wheel baffle and guide wheel shaft are to admittedly in the FB type
Fixed board is connected with each other, and realizes the sealing of the angular contact ball bearing；The directive wheel axle sleeve and the guiding axis cooperate, the guiding axis
There is threaded hole in both ends end face and is connected by screw with the left and right bracket.
10. vehicle Wheels group arrangement as described in any one of claims 1-9, which is characterized in that for the synchronous belt,
It is preferably engaged with the tooth socket of toothed belt by the working face with tooth form and is driven, and its strength layer is preferably by tensile strength
Fibrous material high, elongation is small or metal material composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289869.7A CN109484165B (en) | 2018-10-31 | 2018-10-31 | Planetary gear train and synchronous belt drive vehicle wheel set device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289869.7A CN109484165B (en) | 2018-10-31 | 2018-10-31 | Planetary gear train and synchronous belt drive vehicle wheel set device |
Publications (2)
| Publication Number | Publication Date |
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| CN109484165A true CN109484165A (en) | 2019-03-19 |
| CN109484165B CN109484165B (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811289869.7A Active CN109484165B (en) | 2018-10-31 | 2018-10-31 | Planetary gear train and synchronous belt drive vehicle wheel set device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114198592A (en) * | 2021-12-02 | 2022-03-18 | 杭州电子科技大学 | Three-star wheel type pipeline detection robot capable of automatically crossing obstacles |
| US11945527B2 (en) | 2021-06-16 | 2024-04-02 | Huazhong University Of Science And Technology | Planetary wheel type obstacle crossing robot |
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| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
| CN105501318A (en) * | 2014-09-23 | 2016-04-20 | 江苏林海动力机械集团公司 | Planet differential all-terrain crawler wheel structure |
| CN106892014A (en) * | 2017-02-22 | 2017-06-27 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN107963140A (en) * | 2017-11-17 | 2018-04-27 | 大连理工大学 | Intelligent tracing climbs building load-carrying cleaning device |
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| US20080183332A1 (en) * | 2006-10-06 | 2008-07-31 | Irobot Corporation | Maneuvering Robotic Vehicles |
| CN105501318A (en) * | 2014-09-23 | 2016-04-20 | 江苏林海动力机械集团公司 | Planet differential all-terrain crawler wheel structure |
| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
| CN106892014A (en) * | 2017-02-22 | 2017-06-27 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN107963140A (en) * | 2017-11-17 | 2018-04-27 | 大连理工大学 | Intelligent tracing climbs building load-carrying cleaning device |
Cited By (2)
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| US11945527B2 (en) | 2021-06-16 | 2024-04-02 | Huazhong University Of Science And Technology | Planetary wheel type obstacle crossing robot |
| CN114198592A (en) * | 2021-12-02 | 2022-03-18 | 杭州电子科技大学 | Three-star wheel type pipeline detection robot capable of automatically crossing obstacles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109484165B (en) | 2020-02-14 |
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