CN110723227A - Spring shock-absorbing structure and tracked vehicle - Google Patents
Spring shock-absorbing structure and tracked vehicle Download PDFInfo
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- CN110723227A CN110723227A CN201911034446.5A CN201911034446A CN110723227A CN 110723227 A CN110723227 A CN 110723227A CN 201911034446 A CN201911034446 A CN 201911034446A CN 110723227 A CN110723227 A CN 110723227A
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- spring
- lower connecting
- upper connecting
- connecting piece
- connecting rod
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
Abstract
The invention discloses a spring shock absorption structure and a crawler, wherein the spring shock absorption structure comprises an upper connecting piece, a lower connecting piece and a spring piece, and the upper connecting piece is installed on a crawler body; the lower connecting piece is arranged to the bearing wheel, is opposite to the upper connecting piece and is arranged below the upper connecting piece at intervals, so that a clamping area is defined at the interval; the spring part is arranged in the clamping area, and two ends of the spring part are respectively connected with the upper connecting piece and the lower connecting piece; when the spring part is elastically deformed, the upper connecting piece and the lower connecting piece have movable strokes of abutting and separating. In the invention, when the load on the vehicle body is small, the spring part can absorb all vibration impact brought by the load through the elastic expansion deformation of the spring part; and when the load that the automobile body received is great, and when surpassing the deformation scope of spring part, the spring part drives connecting piece and lower connecting piece looks butt and atress to transmit the remaining load that the spring part did not absorb to the bearing wheel, make the automobile body can bear bigger load and assault.
Description
Technical Field
The invention relates to the technical field of tracked vehicles, in particular to a spring damping structure and a tracked vehicle.
Background
The existing mountain crawler trolley adopts four speed reducing motors as power sources, and further comprises transmission structures such as a driving wheel, a crawler belt rotating in the front-back direction, a tensioning wheel and a plurality of bearing wheels, wherein every two gears are combined into one, each driving wheel is connected with the crawler belt in a driving mode, and the crawler belt transmits power to the plurality of bearing wheels, so that the whole trolley travels.
In the prior art, the transmission structure of the tracked vehicle generally adopts the shock absorbers to ensure stable transmission, and for the tracked vehicle running on a mountain land, the road condition is complex, particularly when the road surface is uneven, one side of the vehicle body is in contact with the road surface, and the other side is suspended, the shock absorbers on only one side in the shock absorbers on the two sides are stressed, and when the load is overlarge, the shock absorbers are easily damaged and the transmission structure fails.
Disclosure of Invention
The invention mainly aims to provide a spring damping structure and a crawler, and aims to solve the problems that a traditional crawler damper is poor in damping effect and prone to failure due to overlarge load.
In order to achieve the above object, the present invention provides a spring damping structure for a crawler, including:
an upper connector for mounting to a vehicle body;
the lower connecting piece is used for being mounted to the bearing wheel, and the lower connecting piece is arranged right opposite to and at intervals below the upper connecting piece so as to limit a clamping area at the interval; and the number of the first and second groups,
the spring part is arranged in the clamping area, and two ends of the spring part are respectively connected with the upper connecting piece and the lower connecting piece;
when the spring piece is elastically deformed, the upper connecting piece and the lower connecting piece are driven to have movable strokes of abutting connection and phase separation.
Optionally, the spring member is arranged in plurality at intervals in a transverse direction of the clamping area.
Optionally, the spring elements have at least partially different elastic moduli.
Optionally, the upper connecting piece comprises two upper connecting rods with one ends hinged, the lower connecting piece comprises two lower connecting rods with one ends hinged, and the two upper connecting rods and the two lower connecting rods are arranged in a one-to-one opposite mode;
the spring part is equipped with two, and two the spring part is located the correspondence respectively go up the connecting rod with between the lower connecting rod to through spring elastic deformation, drive the correspondence go up the connecting rod with the lower connecting rod up-and-down motion.
Optionally, each of the upper connecting rods and the corresponding lower connecting rod respectively have abutting ends, wherein the abutting ends of the upper connecting rods and the abutting ends of the lower connecting rods are respectively provided with an elastic layer; and/or the presence of a gas in the gas,
the upper connecting member is used for being elastically mounted to the vehicle body.
Optionally, each of the upper connecting rods and the corresponding lower connecting rod respectively have abutting ends;
the end face of one of the abutting end of the upper connecting rod and the abutting end of the lower connecting rod is in a concave arc surface shape, and the other end of the upper connecting rod and the abutting end of the lower connecting rod is in a convex arc surface shape which is in concave-convex fit with the concave arc surface.
Optionally, the upper connecting piece and the lower connecting piece are arranged in a plate shape, the lower connecting piece is used for being fixedly mounted to the bearing wheel, and the upper connecting piece has a movable stroke close to and far away from the lower connecting piece.
Optionally, the upper connecting piece is provided with a first sliding chute, the lower connecting piece is provided with a second sliding chute corresponding to the first sliding chute, and the extending direction of the first sliding chute and the extending direction of the second sliding chute are arranged in a crossed included angle;
the two ends of the elastic piece are respectively connected with the first sliding groove and the second sliding groove in a sliding mode through a sliding block.
Optionally, an elastic layer is arranged on the inner wall of the sliding chute; alternatively, the first and second electrodes may be,
the slider is made of an elastic material.
Furthermore, the invention also proposes a tracked vehicle comprising:
a vehicle body;
the bearing wheels are rotatably arranged on two opposite sides of the vehicle body; and the number of the first and second groups,
and the plurality of spring damping structures are arranged in one-to-one correspondence with the plurality of bearing wheels, and each spring damping structure is the spring damping structure.
According to the technical scheme provided by the invention, when the load on the vehicle body is small, the spring part can absorb all vibration impact brought by the load through elastic expansion deformation of the spring part, so that the influence of the load on the bearing wheel is reduced; and when the load borne by the vehicle body is larger and exceeds the deformation range of the spring part, the spring part drives the upper connecting part and the lower connecting part to abut against each other to bear the force, so that the residual load which is not absorbed by the spring part is transferred to the bearing wheel, and the vehicle body can bear larger load impact.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a perspective view of a portion of one embodiment of a crawler according to the present invention;
FIG. 2 is a schematic front view of a first embodiment of a spring shock absorbing structure provided in the present invention;
FIG. 3 is a perspective view of the spring shock absorbing structure of FIG. 2 from another perspective;
fig. 4 is a schematic front view of a spring shock-absorbing structure according to a second embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Spring shock-absorbing |
22 | |
| 1 | Upper connecting |
3 | |
| 11 | Upper connecting |
31 | |
| 12 | |
200 | |
| 2 | Lower connecting |
201 | |
| 21 | Lower connecting |
202 | Bearing wheel |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The existing mountain crawler trolley adopts four speed reducing motors as power sources, and further comprises transmission structures such as a driving wheel, a crawler belt rotating in the front-back direction, a tensioning wheel and a plurality of bearing wheels, wherein every two gears form the transmission structures, each driving wheel is connected with the crawler belt in a driving mode, and the crawler belt transmits power to the plurality of bearing wheels, so that the whole trolley can travel.
In the prior art, the transmission structure of the tracked vehicle generally adopts the shock absorbers to ensure stable transmission, and for the tracked vehicle running on a mountain land, the road condition is complex, particularly when the road surface is uneven, one side of the vehicle body is in contact with the road surface, and the other side is suspended, the shock absorbers on only one side in the shock absorbers on the two sides are stressed, and when the load is overlarge, the shock absorbers are easily damaged and the transmission structure fails.
In view of this, referring to fig. 1, fig. 1 is a schematic structural diagram of one side of a transverse two-side transmission structure of a crawler 200, where the crawler 200 includes a vehicle body 201, a plurality of load-bearing wheels 202, and a plurality of spring damping structures 100, and the plurality of load-bearing wheels 202 and the plurality of spring damping structures 100 are arranged in a one-to-one correspondence, and since the main point of the present invention is to improve the spring damping structures 100, the following description mainly refers to the spring damping structures 100 with reference to fig. 1 to 4.
Referring to fig. 1 to 3, the spring damping structure 100 provided by the present invention is applied to a tracked vehicle 200, and the spring damping structure 100 includes an upper connecting member 1, a lower connecting member 2 and a spring member 3, wherein the upper connecting member 1 is used for being mounted to a vehicle body 201; the lower connecting piece 2 is used for being mounted to the bearing wheel 202, and the lower connecting piece 2 is arranged right opposite to and at intervals below the upper connecting piece 1 so as to limit a clamping area at the intervals; the spring piece 3 is arranged in the clamping area, and two ends of the spring piece are respectively connected with the upper connecting piece 1 and the lower connecting piece 2; under the drive of the telescopic deformation of the spring piece 3, the upper connecting piece 1 and the lower connecting piece 2 have movable strokes of abutting and separating.
In the technical scheme provided by the invention, when the load on the vehicle body 201 is small, the spring part 3 can absorb all vibration impact brought by the load through elastic expansion and contraction deformation of the spring part; when the load applied to the vehicle body 201 is large and exceeds the deformation range of the spring element 3, the spring element 3 drives the upper connecting element 1 and the lower connecting element 2 to abut against each other and bear the force, so that the residual load unabsorbed by the spring element 3 is transmitted to the bearing wheel 202, and the vehicle body 201 can bear larger load impact.
It should be noted that the up-down direction described herein corresponds to the up-down direction of the crawler 200, and the lateral direction described herein corresponds to the forward and backward directions of the crawler 200. In this design, the upper connecting piece 1 and the lower connecting piece 2 are two connecting structures arranged along the vertical direction, the two connecting structures may be arranged identically or differently, and for convenience of understanding, the two connecting structures are exemplified as being arranged identically. At least part of the upper connecting member 1 is movably mounted on the vehicle body 201, and/or at least part of the lower connecting member 2 is movably mounted on the bearing wheel 202, so that at least part of the upper connecting member 1 and the lower connecting member 2 can move close to each other and abut against each other and move away from each other and separate from each other under the driving of the elastic expansion and contraction deformation of the spring member 3.
In this embodiment, spring part 3 is followed the horizontal interval in clamping area is arranged a plurality ofly, because crawler 200 is last to be in the same side a plurality of bearing wheel 202 is arranged along horizontal interval, makes a plurality of corresponding the clamping area of spring shock-absorbing structure 100 is along horizontal intercommunication, and is a plurality of spring part 3's setting helps hindering each the vibration impact that receives everywhere in the clamping area, balanced each then the load that the clamping area receives enlarges the shock attenuation effect scope of spring shock-absorbing structure 100, thereby improves the shock attenuation effect of automobile body 201 whole car.
Then, when the plurality of spring members 3 are provided, the elastic moduli of the plurality of spring members 3 may be set to be the same, and the plurality of spring members 3 may be connected in parallel or partially connected in series and then connected in parallel; in the present embodiment, a plurality of spring members 3 may be provided, and the elastic modulus of the spring members may be at least partially different. For example, when the plurality of spring members 3 include a plurality of low elasticity springs and a plurality of high elasticity springs, the plurality of low elasticity springs and the plurality of high elasticity springs may be arranged in various manners, may be arranged randomly, may be arranged alternately in the lateral direction, or may be arranged in order of increasing elastic modulus in a direction from the periphery of the clamping area toward the central area. The different arrangements allow the same spring damping structure 100 to perform different damping functions according to different road conditions, and when the spring member 3 having a smaller elastic modulus among the plurality of spring members 3 is excessively deformed due to a larger load, causing a functional failure, the remaining spring members 3 having a larger elastic modulus still ensure the continuous effectiveness of the damping function. A plurality of spring part 3 independent setting more does benefit to dismouting and replacement.
In view of the above, the specific expression of the upper connecting member 1 and the lower connecting member 2 is not limited in the present design, please refer to fig. 2 and fig. 3, in the first embodiment provided by the present invention, the upper connecting member 1 includes an upper connecting rod 11 with one end hinged, the lower connecting member 2 includes a lower connecting rod 21 with one end hinged, and the upper connecting rod 11 and the two lower connecting rods 21 are disposed opposite to each other; spring part 3 is equipped with two, and two spring part 3 is located the correspondence respectively go up connecting rod 11 with between the lower connecting rod 21 to through flexible deformation, drive the correspondence go up connecting rod 11 with lower connecting rod 21 reciprocates. Taking one pair of the upper connecting rod 11 and the lower connecting rod 21 as an example, one end of the upper connecting rod 11 is vertically moved and installed on the vehicle body 201, the other end of the upper connecting rod is connected with one end of the spring element 3, one end of the lower connecting rod 21 is vertically moved and installed on a rotating shaft of the bearing wheel 202, and the other end of the lower connecting rod is connected with the rest end of the spring element 3; when the spring piece 3 is not impacted by a load, the spring piece 3 has a certain compression deformation amount and vertically holds the upper connecting rod 11 and the lower connecting rod 21 in a separated position state; when the load impact is small, the spring part 3 is stressed to continue to be compressed and deformed, and the upper connecting rod 11 and the lower connecting rod 21 are driven to approach each other; when the load impact is large, the spring element 3 is stressed and deforms in a compression mode to the maximum deformation amount, the upper connecting rod 11 and the lower connecting rod 21 are driven to approach to each other and abut against each other, a path for load transmission is formed, the rest load which is not buffered by the spring element 3 is transmitted to the bearing wheel 202 through the path and is consumed and absorbed by the bearing wheel 202, and therefore the better and larger-bearing shock absorption effect is achieved.
Further, in this embodiment, each of the upper connecting rods 11 and the corresponding lower connecting rods 21 respectively have abutting ends, wherein the abutting ends of the upper connecting rods 11 and the lower connecting rods 21 are respectively provided with an elastic layer, and the specific form of the elastic layer is not limited, such as laying a layer of rubber pad, etc., and the elastic layer is arranged so that a part of load at the instant of abutting between the upper connecting rods 11 and the lower connecting rods 21 is buffered by the elastic layer, which helps to reduce the impact between the upper connecting rods 11 and the lower connecting rods 21; of course, the upper connecting rod 11 and the upper connecting rod 11 themselves may be made of an elastic material with a large elastic modulus, so that the upper connecting rod 11 and the lower connecting rod 21 themselves have a damping effect. Further, in the present embodiment, the upper link 1 is adapted to be elastically mounted to the vehicle body 201. For example, the upper link 1 is mounted to the vehicle body 201 by a spring so that when a load impact in a direction toward and away from the vehicle body 201 is received, the spring can absorb the load impact in that direction well.
Further, in the present embodiment, each of the upper connecting rods 11 and the corresponding lower connecting rod 21 respectively have abutting ends; the end face of one of the abutting end of the upper connecting rod 11 and the abutting end of the lower connecting rod 21 is in a concave arc surface shape, and the other end of the abutting end of the upper connecting rod 11 and the abutting end of the lower connecting rod 21 is in a convex arc surface shape which is in concave-convex fit with the concave arc surface. Through the concave-convex fit between the concave arc surface and the convex arc surface, on one hand, the abutting position between the upper connecting rod 11 and the lower connecting rod 21 can be well positioned, the influence on the damping effect caused by uneven distribution of loads along the transverse direction due to dislocation is avoided, and the upper connecting rod 11 and the lower connecting rod 21 are easily damaged; on the other hand, the concave-convex fit helps to increase the contact area between the upper connecting rod 11 and the lower connecting rod 21, and changes the load transmission direction, so that part of the load is eliminated due to the same magnitude and opposite direction, and further enhances the damping effect.
In addition, referring to fig. 4, in a second embodiment of the present invention, the upper connecting member 1 and the lower connecting member 2 are disposed in a plate shape, the lower connecting member 2 is used to be fixedly mounted to the bearing wheel 202, and the upper connecting member 1 has a movable stroke approaching to and departing from the lower connecting member 2. The car body 201 may be provided with a guide rail, and the upper connecting member 1 is slidably mounted on the guide rail to realize the above-mentioned moving stroke of the upper connecting member 1. In the same way as above, the elastic expansion deformation of the spring element 3 can buffer certain load impact, and when the load impact is large, the load is transmitted to the bearing wheel 202 by driving the upper connecting piece 1 and the lower connecting piece 2 to abut against each other, so that the bearing range of the spring damping structure 100 is expanded, and the spring damping effect is optimized.
Further, in this embodiment, the upper connecting member 1 is provided with a first sliding groove 12, the lower connecting member 2 is provided with a second sliding groove 22 corresponding to the first sliding groove 12, and the extending direction of the first sliding groove 12 and the extending direction of the second sliding groove 22 are arranged at a crossed included angle; at this time, both ends of the elastic member are slidably connected to the first sliding groove 12 and the second sliding groove 22 through a sliding block 31, respectively. By providing the sliding connection of the sliding block 31 with the first sliding groove 12 and the second sliding groove 22, the spring member 3 can be supported to move in the transverse direction, thereby facilitating the conversion of a portion of the load impact into the transverse movement of the spring member 3 and optimizing the damping effect.
Next, in this embodiment, an elastic layer is disposed on an inner wall of the sliding groove; or the sliding block 31 is made of an elastic material. Similarly, the elastic layer is not limited, for example, a rubber layer is disposed, the sliding groove is elastically disposed on the inner wall of the sliding groove, or the sliding block 31 is elastically disposed, so that the sliding block and the sliding groove are in flexible contact, thereby avoiding direct collision between the sliding block and the sliding groove, and also helping to consume a certain load impact.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a spring shock-absorbing structure uses on the tracked vehicle, its characterized in that includes:
an upper connector for mounting to a vehicle body;
the lower connecting piece is used for being mounted to the bearing wheel, and the lower connecting piece is arranged right opposite to and at intervals below the upper connecting piece so as to limit a clamping area at the interval; and the number of the first and second groups,
the spring part is arranged in the clamping area, and two ends of the spring part are respectively connected with the upper connecting piece and the lower connecting piece;
when the spring piece is elastically deformed, the upper connecting piece and the lower connecting piece are driven to have movable strokes of abutting connection and phase separation.
2. The spring shock absorbing structure of claim 1, wherein said spring member is arranged in plural at intervals in a lateral direction of said holding region.
3. The spring cushioning structure of claim 2, wherein said plurality of spring members have elastic moduli that are at least partially differently arranged.
4. The spring shock absorbing structure according to claim 1, wherein said upper connecting member includes two upper connecting rods hinged at one end, said lower connecting member includes two lower connecting rods hinged at one end, said two upper connecting rods and said two lower connecting rods are disposed opposite to each other;
the spring part is equipped with two, and two the spring part is located the correspondence respectively go up the connecting rod with between the lower connecting rod to through spring elastic deformation, drive the correspondence go up the connecting rod with the lower connecting rod up-and-down motion.
5. The spring shock absorbing structure according to claim 4, wherein each of the upper connecting rods and the corresponding lower connecting rod has an abutting end, and wherein the abutting ends of the upper connecting rods and the lower connecting rods are respectively provided with an elastic layer; and/or the presence of a gas in the gas,
the upper connecting member is used for being elastically mounted to the vehicle body.
6. The spring shock absorbing structure according to claim 4, wherein each of the upper connecting rods and the corresponding lower connecting rod has an abutting end;
the end face of one of the abutting end of the upper connecting rod and the abutting end of the lower connecting rod is in a concave arc surface shape, and the other end of the upper connecting rod and the abutting end of the lower connecting rod is in a convex arc surface shape which is in concave-convex fit with the concave arc surface.
7. The spring shock absorbing structure according to claim 1, wherein the upper link and the lower link are provided in a plate shape, the lower link is adapted to be fixedly mounted to the load bearing wheel, and the upper link has a movable stroke approaching and departing from the lower link.
8. The spring shock absorbing structure according to claim 7, wherein the upper connecting member is provided with a first sliding groove, the lower connecting member is provided with a second sliding groove corresponding to the first sliding groove, and the extending direction of the first sliding groove and the extending direction of the second sliding groove are arranged at a crossed included angle;
the two ends of the elastic piece are respectively connected with the first sliding groove and the second sliding groove in a sliding mode through a sliding block.
9. The spring shock absorbing structure according to claim 8, wherein an elastic layer is disposed on an inner wall of the chute; alternatively, the first and second electrodes may be,
the slider is made of an elastic material.
10. A tracked vehicle, comprising:
a vehicle body;
the bearing wheels are rotatably arranged on two opposite sides of the vehicle body; and the number of the first and second groups,
a plurality of spring shock-absorbing structures provided in one-to-one correspondence with the plurality of load-bearing wheels, each of the spring shock-absorbing structures being as defined in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034446.5A CN110723227B (en) | 2019-10-28 | 2019-10-28 | Spring shock-absorbing structure and tracked vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034446.5A CN110723227B (en) | 2019-10-28 | 2019-10-28 | Spring shock-absorbing structure and tracked vehicle |
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| Publication Number | Publication Date |
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| CN110723227A true CN110723227A (en) | 2020-01-24 |
| CN110723227B CN110723227B (en) | 2021-05-28 |
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| CN201911034446.5A Active CN110723227B (en) | 2019-10-28 | 2019-10-28 | Spring shock-absorbing structure and tracked vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619683A (en) * | 2020-06-08 | 2020-09-04 | 神华神东煤炭集团有限责任公司 | Detection equipment used in coal mine tunnel and control method thereof |
| CN112224119A (en) * | 2020-10-20 | 2021-01-15 | 湖北文理学院 | Automatic disinfection epidemic prevention tracked vehicle who sprays |
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| US20170217472A1 (en) * | 2016-02-02 | 2017-08-03 | Yamaha Hatsudoki Kabushiki Kaisha | Snowmobile |
| CN110065546A (en) * | 2019-06-03 | 2019-07-30 | 江苏海事职业技术学院 | A kind of crawler belt suspension self-reacting device and engineering truck |
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| RU2342278C1 (en) * | 2007-06-20 | 2008-12-27 | ЗАО "Биробиджанский комбайновый завод "Дальсельмаш" | Changeable half-track |
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| CN203508748U (en) * | 2013-09-29 | 2014-04-02 | 林州重机铸锻有限公司 | Punching, correcting and reshaping combined tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112224119A (en) * | 2020-10-20 | 2021-01-15 | 湖北文理学院 | Automatic disinfection epidemic prevention tracked vehicle who sprays |
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|---|---|
| CN110723227B (en) | 2021-05-28 |
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