CN109606497A - A kind of wheel leg type all-terrain vehicle - Google Patents
A kind of wheel leg type all-terrain vehicle Download PDFInfo
- Publication number
- CN109606497A CN109606497A CN201811571888.9A CN201811571888A CN109606497A CN 109606497 A CN109606497 A CN 109606497A CN 201811571888 A CN201811571888 A CN 201811571888A CN 109606497 A CN109606497 A CN 109606497A
- Authority
- CN
- China
- Prior art keywords
- wheel
- group
- connecting rod
- leg
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of wheel leg type all-terrain vehicle, comprising: vehicle body, wheel group and leg group, the leg group are connected to body structure two sides, and the wheel group is connected to body rear end two sides；The leg group has a pair of of swing arm leg group, and shaft hole is arranged in the central point of the swing arm leg group, and the shaft hole is connected on vehicle body by waving four-bar mechanism；The wheel group has a pair of of rocker arm wheel group, and each rocker arm wheel group is connected to body rear end by three-link mechanism, and each rocker arm wheel group is hub motor and rear-wheel hub motor, and forward and backward hub motor is connected by pitching rocker arm body.The present invention uses passive suspension completely, front and back obstacle detouring structure can Passive deformation adaptation to the ground, while the rugged influence to car body itself of landform can be effectively reduced.
Description
Technical field
The invention discloses a kind of wheel leg type all-terrain vehicle, are related to specialized robot field of mechanical technique.
Background technique
Full ground anthropomorphic robot is in celestial body detecting, and outdoor investigation, disaster is searched and rescued and there is wide application in the fields such as military affairs
Prospect.It not only possesses the ability for coping with various complicated landforms, additionally it is possible to carry many sensors and actuator, exist instead of the mankind
Region that is dangerous or being difficult to enter executes diversified task.
Existing full ground anthropomorphic robot is broadly divided into four major class: wheeled；Leg formula；Crawler type and combined type.Every one kind machine
The advantages of device people has its advantage and defect, and wherein leg-wheel robot combines wheeled and leg formula, obstacle climbing ability is superior, simultaneously
It can be effectively reduced the loss of energy, the disadvantage is that structure is complex, control difficulty is higher, by passive suspension and wheel leg type knot
Structure combines, and enables robot obstacle detouring structure according to ground obstacle Passive deformation, the control of robot can be effectively reduced
Difficulty.
The various kinds of sensors loaded in robot also proposed certain requirement to the stationarity of machine human organism.It is existing
Robot with passive obstacle detouring structure is difficult to keep the stabilization of car body during obstacle detouring.
Summary of the invention
The present invention provides a kind of wheel leg type all-terrain vehicle for the defects of above-mentioned background technique, completely using passive outstanding
Frame, front and back obstacle detouring structure can Passive deformation adaptation to the ground, while the rugged influence to car body itself of landform can be effectively reduced.
To achieve the above object, The technical solution adopted by the invention is as follows: a kind of wheel leg type all-terrain vehicle, comprising: vehicle body,
Wheel group and leg group, the leg group are connected to body structure two sides, and the wheel group is connected to body rear end two sides；
The leg group has a pair of of swing arm leg group, and each swing arm leg group has 4 supporting legs, and 4 supporting legs are in cross integrated design,
Idler wheel is arranged in the free end of 4 supporting legs, and shaft hole is arranged in the central point of the swing arm leg group, and the shaft hole is by waving
Four-bar mechanism is connected on vehicle body；
The wheel group has a pair of of rocker arm wheel group, and each rocker arm wheel group is connected to body rear end by three-link mechanism, each
Rocker arm wheel group includes front hub motor and rear-wheel hub motor, and forward and backward hub motor is connected by pitching rocker arm body.
Further, the vehicle body includes car body upper plate, car body lower plate, mounting plate, preceding fishplate bar and rear fishplate bar, the car body
It is fixedly connected between upper plate and car body lower plate by supporting element, the upper and lower ends of the preceding connecting plate pass through axis one and car body respectively
Upper plate, car body lower plate front end be fixedly connected, hinged mounting plate on rear side of the car body lower plate, after being fixedly connected on the mounting plate
Fishplate bar.
Further, the four-bar mechanism that waves includes that two identical first long axis and two are identical first short
Axis, the middle part of two first long axis be rotationally connected with respectively car body upper plate, car body lower plate axis one on, first long axis
Both ends pass through two the first short axles respectively and be connected to a parallelogram, pass through pin between first long axis and the first short axle
Installation axle is arranged in axis connection, the on both sides of the middle of each short axle, and each installation axle is separately connected turning for a swing arm leg
Axis hole.
Further, the three-link mechanism includes left connecting rod, right connecting rod and intermediate connecting rod, and the intermediate connecting rod passes through axis
Two are rotationally connected with the middle part of rear fishplate bar, and the left connecting rod, right connecting rod are symmetricly set on the two sides of intermediate connecting rod, the left company
It is rotatablely connected respectively by axis three and rear fishplate bar in the middle part of bar, right connecting rod, the both ends of the intermediate connecting rod are respectively equipped with sliding slot, described
Left connecting rod, right connecting rod are connected in sliding slot by the needle bearing on axis four.
Further, pitching rocker arm body includes front-wheel fixed link, rear-wheel fixed link, the second long axis and the second short axle, institute
The center of front hub motor is fixed in the lower end for stating front-wheel fixed link, and rear-wheel hub motor is fixed in the lower end of the rear-wheel fixed link
Center, the second long axis and one end of the second short axle and the lower end of rear-wheel fixed link are hinged, and the other end of the second long axis is articulated with
The lower end of front-wheel fixed link, the other end of the second short axle are articulated with the upper end of front-wheel fixed link, and each pair of rocker arm wheel passes through
The upper end of rear-wheel fixed link is respectively fixedly connected in the two sides of left and right connecting rods.
Further, pass through damper between the rear fishplate bar and car body upper plate to connect.
Further, axis two and two axis three is arranged in same level.
The utility model has the advantages that 1. driving wheels of the invention select wheel hub single machine, structure is simplified, and avoids motor exposed, increases obstacle detouring
Performance.
2. 8 of leg group of the present invention passively idler wheel be located at Vehicular body front, be divided into left and right two groups, be in cross design, both
It can also be moved ahead with leg formula throwing over barrier in flat road surface with wheeled.
3. two swing arm leg groups of the invention are connected by one group of parallelogram connection-rod, it can float up and down, reply left and right is high
The not equal barrier of degree, the structure when deformation, the connecting shaft of swing arm leg group can always with horizontal plane keeping parallelism, most
Keep to limits the front face on wheel and ground.
4. the three-link obstacle detouring structure of two rocker arm wheel groups of the invention, three connecting rods pass through three axis respectively and car body connects
It connects, intermediate connecting rod is set there are two sliding slot, and left and right connecting rods make mutually fortune by the sliding slot of needle bearing and intermediate connecting rod on axis three
It is dynamic, also cope with left and right height not equal barrier, this make trolley during obstacle detouring can passive adaptation landform, it is rugged not
Flat road surface is not easy to influence the platform stable of trolley.
5. each rocker arm wheel group of the invention is connected by pitching rocker arm body, wheel in front is encountered compared with high obstacle object
When, it can be lifted by the deformation of connecting rod, thus throwing over barrier.
After 6. fishplate bar pass through and car body lower plate handover, connected by a pair of of damper with car body upper plate, rear-wheel by
The influence to car body can be reduced when impact, protect the equipment installed on car body.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of vehicle body of the invention；
Fig. 3 is the structural schematic diagram for waving four-bar mechanism horizontality of the invention；
Fig. 4 is the structural schematic diagram for waving four-bar mechanism heeling condition of the invention；
Fig. 5 is the structural schematic diagram of rocker arm wheel group horizontality of the invention；
Fig. 6 is the structural schematic diagram of rocker arm wheel group heeling condition of the invention；
Fig. 7 is the structural schematic diagram of three-link mechanism horizontality of the invention；
Fig. 8 is the structural schematic diagram of three-link mechanism heeling condition of the invention；
Fig. 9 is the structural schematic diagram of pitching rocker arm body horizontality of the invention；
Figure 10 is the structural schematic diagram of pitching rocker arm body lifting status of the invention.
Specific embodiment
The implementation of technical solution is described in further detail with reference to the accompanying drawing.Following embodiment is only used for more clear
Illustrate to Chu technical solution of the present invention, and not intended to limit the protection scope of the present invention.
As shown in Fig. 1 ~ 10, a kind of wheel leg type all-terrain vehicle, comprising: vehicle body 1, wheel group and leg group, the leg group are connected to
1 front end two sides of vehicle body, the wheel group are connected to 1 rear end sides of vehicle body；
The leg group has a pair of of swing arm leg group 2, and each swing arm leg group 2 has 4 supporting legs 21, and 4 supporting legs 21 are in cross one
Body design, the free end setting idler wheel 22 of 4 supporting legs 21, the central point setting shaft hole of the swing arm leg group 2, described turn
Axis hole is connected on vehicle body 1 by waving four-bar mechanism 4；
The wheel group has a pair of of rocker arm wheel group 3, and each rocker arm wheel group 3 is connected to 1 rear end of vehicle body by three-link mechanism 5,
Each rocker arm wheel group 3 includes front hub motor 31 and rear-wheel hub motor 32, and forward and backward hub motor 32 passes through pitching rocker arm body 6
It is connected.
The vehicle body 1 includes car body upper plate 11, car body lower plate 12, mounting plate 13, preceding fishplate bar 14 and rear fishplate bar 15, the vehicle
It is fixedly connected between body upper plate 11 and car body lower plate 12 by supporting element 16, the upper and lower ends of the preceding connecting plate pass through axis respectively
One 44 are fixedly connected with the front end of car body upper plate 11, car body lower plate 12, the hinged mounting plate 13 of 12 rear side of car body lower plate, described
It is fixedly connected with rear fishplate bar 15 on mounting plate 13, is connected between fishplate bar 15 and car body upper plate 11 by damper 17 after described.
It is described wave four-bar mechanism 4 include two identical first long axis 41 and two identical first short axles 42, two
The middle part of a first long axis 41 be rotationally connected with respectively car body upper plate 11, car body lower plate 12 axis 1 on, described first
The both ends of long axis 41 pass through two the first short axles 42 respectively and are connected to a parallelogram, and first long axis 41 and first is short
It is connected between axis 42 by pin shaft 45, installation axle 43 is arranged in the on both sides of the middle of each short axle, and each installation axle 43 is distinguished
Connect the shaft hole of a swing arm leg.
The three-link mechanism 5 includes left connecting rod 51, right connecting rod 53 and intermediate connecting rod 52, and the intermediate connecting rod 52 passes through axis
2 54 are rotationally connected with the middle part of rear fishplate bar 15, and the left connecting rod 51, right connecting rod 53 are symmetricly set on the two sides of intermediate connecting rod 52,
The left connecting rod 51,53 middle part of right connecting rod are rotatablely connected by axis 3 55 and rear fishplate bar 15 respectively, the axis 2 54 and two axis
3 55 are arranged in same level；The both ends of the intermediate connecting rod 52 are respectively equipped with sliding slot 57, the left connecting rod 51, right connecting rod
53 are connected in sliding slot 57 by the needle bearing on axis 4 56.
Pitching rocker arm body 6 includes front-wheel fixed link 61, rear-wheel fixed link 62, the second long axis 63 and the second short axle 64, institute
The center of front hub motor 31 is fixed in the lower end for stating front-wheel fixed link 61, and rear-wheel is fixed in the lower end of the rear-wheel fixed link 62
The center of hub motor 32, the second long axis 63 and one end of the second short axle 64 and the lower end of rear-wheel fixed link 62 are hinged, the second long axis
63 other end is articulated with the lower end of front-wheel fixed link 61, and the other end of the second short axle 64 is articulated with the upper of front-wheel fixed link 61
End, each pair of rocker arm wheel are respectively fixedly connected with by the upper end of rear-wheel fixed link 62 in the two sides of left and right connecting rods.
Driving wheel of the invention selects wheel hub single machine, and structure is simplified, and avoids motor exposed, increases obstacle performance.
Passively idler wheel is located at Vehicular body front to 8 of leg group of the present invention, is divided into two groups of left and right, is in cross design, both may be used
With leg formula throwing over barrier, can also be moved ahead in flat road surface with wheeled.
Two swing arm leg groups of the invention are connected by one group of parallelogram connection-rod, can be floated up and down, reply left and right height
Not equal barrier, for the structure when deformation, the connecting shaft of swing arm leg group can be maximum always with horizontal plane keeping parallelism
Keep to limit the front face on wheel and ground.
The three-link obstacle detouring structure of two rocker arm wheel groups of the invention, three connecting rods pass through three axis respectively and car body connects
It connects, intermediate connecting rod is set there are two sliding slot, and left and right connecting rods make mutually fortune by the sliding slot of needle bearing and intermediate connecting rod on axis three
It is dynamic, also cope with left and right height not equal barrier, this make trolley during obstacle detouring can passive adaptation landform, it is rugged not
Flat road surface is not easy to influence the platform stable of trolley.
Each rocker arm wheel group of the invention is connected by pitching rocker arm body, when wheel in front is encountered compared with high obstacle object,
It can be lifted by the deformation of connecting rod, thus throwing over barrier.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of wheel leg type all-terrain vehicle characterized by comprising vehicle body, wheel group and leg group, before the leg group is connected to vehicle body
Two sides are held, the wheel group is connected to body rear end two sides；
The leg group has a pair of of swing arm leg group, and each swing arm leg group has 4 supporting legs, and 4 supporting legs are in cross integrated design,
Idler wheel is arranged in the free end of 4 supporting legs, and shaft hole is arranged in the central point of the swing arm leg group, and the shaft hole is by waving
Four-bar mechanism is connected on vehicle body；
The wheel group has a pair of of rocker arm wheel group, and each rocker arm wheel group is connected to body rear end by three-link mechanism, each
Rocker arm wheel group includes front hub motor and rear-wheel hub motor, and forward and backward hub motor is connected by pitching rocker arm body.
2. a kind of wheel leg type all-terrain vehicle according to claim 1, which is characterized in that the vehicle body include car body upper plate,
Car body lower plate, mounting plate, preceding fishplate bar and rear fishplate bar are fixedly connected between the car body upper plate and car body lower plate by supporting element,
The upper and lower ends of the preceding connecting plate pass through axis one respectively and are fixedly connected with the front end of car body upper plate, car body lower plate, the car body
Hinged mounting plate on rear side of lower plate is fixedly connected with rear fishplate bar on the mounting plate.
3. a kind of wheel leg type all-terrain vehicle according to claim 2, which is characterized in that the four-bar mechanism that waves includes
Two identical first long axis and two identical first short axles, the middle part of two first long axis are rotationally connected with vehicle respectively
Body upper plate, car body lower plate axis one on, the both ends of first long axis pass through respectively two the first short axles be connected to one it is parallel
Quadrangle is connected between first long axis and the first short axle by pin shaft, and installation axle is arranged in the on both sides of the middle of each short axle,
Each installation axle is separately connected the shaft hole of a swing arm leg.
4. a kind of wheel leg type all-terrain vehicle according to claim 2, which is characterized in that the three-link mechanism includes left company
Bar, right connecting rod and intermediate connecting rod, the intermediate connecting rod are rotationally connected with the middle part of rear fishplate bar, the left connecting rod, the right side by axis two
Connecting rod is symmetricly set on the two sides of intermediate connecting rod, is connected respectively by axis three and the rotation of rear fishplate bar in the middle part of the left connecting rod, right connecting rod
It connects, the both ends of the intermediate connecting rod are respectively equipped with sliding slot, and the left connecting rod, right connecting rod are connected to by the needle bearing on axis four
In sliding slot.
5. a kind of wheel leg type all-terrain vehicle according to claim 4, which is characterized in that pitching rocker arm body includes that front-wheel is solid
The lower end of fixed pole, rear-wheel fixed link, the second long axis and the second short axle, the front-wheel fixed link is fixed in front hub motor
The center of rear-wheel hub motor, one end and rear-wheel of the second long axis and the second short axle are fixed in the heart, the lower end of the rear-wheel fixed link
The lower end of fixed link is hinged, and the other end of the second long axis is articulated with the lower end of front-wheel fixed link, and the other end of the second short axle is hinged
In the upper end of front-wheel fixed link, each pair of rocker arm wheel is respectively fixedly connected with by the upper end of rear-wheel fixed link in left and right company
The two sides of bar.
6. a kind of wheel leg type all-terrain vehicle according to claim 2, which is characterized in that after described fishplate bar and car body upper plate it
Between pass through damper connect.
7. a kind of wheel leg type all-terrain vehicle according to claim 4, which is characterized in that axis two and two axis three is arranged
In same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811571888.9A CN109606497B (en) | 2018-12-21 | 2018-12-21 | Wheel leg type all-terrain vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811571888.9A CN109606497B (en) | 2018-12-21 | 2018-12-21 | Wheel leg type all-terrain vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606497A true CN109606497A (en) | 2019-04-12 |
| CN109606497B CN109606497B (en) | 2021-04-16 |
Family
ID=66011122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811571888.9A Active CN109606497B (en) | 2018-12-21 | 2018-12-21 | Wheel leg type all-terrain vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606497B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4444115C2 (en) * | 1994-12-12 | 1996-09-26 | Frank Dipl Ing Schliewert | Multi-track light vehicle |
| CN101428653A (en) * | 2008-12-04 | 2009-05-13 | 复旦大学 | Driving and steering mechanism of robot moving platform |
| CN101638106A (en) * | 2008-07-31 | 2010-02-03 | 上海坤孚企业(集团)有限公司 | Wheel inclination structure for turning of electric motorcar |
| JP2012011996A (en) * | 2010-02-16 | 2012-01-19 | Equos Research Co Ltd | Vehicle |
| CN202782542U (en) * | 2012-08-07 | 2013-03-13 | Tartajet有限公司 | Independent wheel suspension device used for three-wheel or multi-wheel motor vehicle shock absorption |
| DE202012011102U9 (en) * | 2012-11-19 | 2013-09-05 | Sergey Ventsel | Device for providing a jump to a vehicle |
| CN105059422A (en) * | 2015-09-25 | 2015-11-18 | 北京理工大学 | All-terrain vehicle based on four-connecting-rod deformable principle |
| CN105829201A (en) * | 2013-11-08 | 2016-08-03 | 途夫自行车有限公司 | Tilting mechanism for a multi-wheeled tilting vehicle |
| CN105875571A (en) * | 2016-04-21 | 2016-08-24 | 湖南农业大学 | High ground clearance and variable wheel distance and axle distance type plant protection machine and wheel rim transmission system of plant protection machine |
| CN106132734A (en) * | 2014-03-11 | 2016-11-16 | 洛桑联邦理工学院 | There is the vehicle of high pass ability |
| CN106274337A (en) * | 2015-06-09 | 2017-01-04 | 大连浦州航空科技有限公司 | Amphibious vehicle folding and unfolding wheel apparatus |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN107140056A (en) * | 2017-05-22 | 2017-09-08 | 山东农业大学 | A kind of full landform chassis attitude adjustment mechanism and its method of adjustment |
| CN206679076U (en) * | 2017-03-17 | 2017-11-28 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN207804203U (en) * | 2017-11-21 | 2018-09-04 | 苏州瀚博精密模塑科技有限公司 | A kind of mating drive component upstairs of sweeping robot |
-
2018
- 2018-12-21 CN CN201811571888.9A patent/CN109606497B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4444115C2 (en) * | 1994-12-12 | 1996-09-26 | Frank Dipl Ing Schliewert | Multi-track light vehicle |
| CN101638106A (en) * | 2008-07-31 | 2010-02-03 | 上海坤孚企业(集团)有限公司 | Wheel inclination structure for turning of electric motorcar |
| CN101428653A (en) * | 2008-12-04 | 2009-05-13 | 复旦大学 | Driving and steering mechanism of robot moving platform |
| JP2012011996A (en) * | 2010-02-16 | 2012-01-19 | Equos Research Co Ltd | Vehicle |
| CN202782542U (en) * | 2012-08-07 | 2013-03-13 | Tartajet有限公司 | Independent wheel suspension device used for three-wheel or multi-wheel motor vehicle shock absorption |
| DE202012011102U9 (en) * | 2012-11-19 | 2013-09-05 | Sergey Ventsel | Device for providing a jump to a vehicle |
| CN105829201A (en) * | 2013-11-08 | 2016-08-03 | 途夫自行车有限公司 | Tilting mechanism for a multi-wheeled tilting vehicle |
| CN106132734A (en) * | 2014-03-11 | 2016-11-16 | 洛桑联邦理工学院 | There is the vehicle of high pass ability |
| CN106274337A (en) * | 2015-06-09 | 2017-01-04 | 大连浦州航空科技有限公司 | Amphibious vehicle folding and unfolding wheel apparatus |
| CN105059422A (en) * | 2015-09-25 | 2015-11-18 | 北京理工大学 | All-terrain vehicle based on four-connecting-rod deformable principle |
| CN105875571A (en) * | 2016-04-21 | 2016-08-24 | 湖南农业大学 | High ground clearance and variable wheel distance and axle distance type plant protection machine and wheel rim transmission system of plant protection machine |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN206679076U (en) * | 2017-03-17 | 2017-11-28 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN107140056A (en) * | 2017-05-22 | 2017-09-08 | 山东农业大学 | A kind of full landform chassis attitude adjustment mechanism and its method of adjustment |
| CN207804203U (en) * | 2017-11-21 | 2018-09-04 | 苏州瀚博精密模塑科技有限公司 | A kind of mating drive component upstairs of sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606497B (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2016101700A1 (en) | Wheel-beam axleless vehicle frame | |
| CN102963455A (en) | Pull rod type suspended robot wheel leg walking mechanism | |
| ATE242704T1 (en) | SUSPENSION FOR DRIVEN REAR WHEELS OF A MOTOR VEHICLE | |
| CN104541635A (en) | Balancing chassis structure of high-ground-clearance plant protection machine | |
| CN110002007A (en) | A kind of adjustable suspension of manned lunar rover of four-wheel | |
| CN204172982U (en) | Tractor truck independent suspension type steering swivel system | |
| CN204354759U (en) | Electronic van transporter trailing arm type rear suspension system | |
| CN206954344U (en) | A kind of base apparatus of self-adapting type mobile robot | |
| CN107628136A (en) | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism | |
| CN206394739U (en) | A kind of extension type field rescue probe vehicles | |
| CN109606497A (en) | A kind of wheel leg type all-terrain vehicle | |
| CN207059671U (en) | All-terrain vehicle and all-terrain vehicle rear suspension mounting structure | |
| CN203427918U (en) | Caterpillar track chassis of beach cleaning vehicle | |
| CN105292287A (en) | Crawler-based transportation vehicle chassis applicable to complex terrain | |
| CN207128537U (en) | All-terrain vehicle and its rocker structure | |
| CN103693143B (en) | There is the battery-driven car of shock absorbing apparatus | |
| CN215826658U (en) | All-terrain unmanned ground carrier robot | |
| CN211567574U (en) | Front-mounted trolley independent suspension steering device | |
| CN105034735B (en) | Mountain off-road load-bearing transport vehicle | |
| CN203793519U (en) | Racing ATV frame assembly | |
| CN208914915U (en) | Commercial vehicle and independent suspension system | |
| CN106143674B (en) | A kind of terrain self-adaptive mobile chassis | |
| CN201900959U (en) | Horizontal stabilizer applied to rear air suspension | |
| CN206086865U (en) | Unilateral independent suspension of front wheel turns to formula tricycle | |
| CN208498646U (en) | AGV trolley with four-bar mechanism suspension |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |