CN111055939A - Displacement walking system of unmanned platform - Google Patents
Displacement walking system of unmanned platform Download PDFInfo
- Publication number
- CN111055939A CN111055939A CN201911117706.5A CN201911117706A CN111055939A CN 111055939 A CN111055939 A CN 111055939A CN 201911117706 A CN201911117706 A CN 201911117706A CN 111055939 A CN111055939 A CN 111055939A
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- China
- Prior art keywords
- transmission
- walking
- driving wheel
- shifts
- driving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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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
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- 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
- B62D55/30—Track-tensioning means
Abstract
The invention discloses a displacement walking system of an unmanned platform, which comprises a walking unit and a transmission unit, wherein the transmission unit comprises a displacement transmission unit and a walking transmission unit, the displacement transmission unit is used for changing the walking angle of the walking unit, and the walking transmission unit is used for driving the walking unit to walk. The multifunctional walking stick has the dual functions of displacement and walking, is high in flexibility, and has high trafficability, high off-road property and omnidirectional walking capability.
Description
Technical Field
The invention relates to the technical field of unmanned platforms, in particular to a position-changing walking system of an unmanned platform.
Background
With the rapid development of science and technology, the automatic driving industry and the unmanned platform industry are different military projects. For the design of the unmanned platform, factors such as mobility, trafficability, light weight and the like are comprehensively considered. According to the walking mode classification, unmanned platform can divide into wheeled walking platform and track walking platform, though the traveling system simple structure of two kinds of forms, the technology is mature, but its limitation is strong, can't adapt to multiple operating mode. The wheeled platform has the advantages of strong maneuverability, good trafficability and strong off-road capability. In order to make the platform have good maneuverability and trafficability simultaneously, it is particularly important to make innovative structural design on the platform, especially on the walking system. At present, a plurality of scholars carry out related researches on innovative structural designs of a walking system of a platform, but the problems of poor platform trafficability, incapability of realizing omnidirectional driving, incapability of adapting to various publicities, lack of good off-road performance and the like exist.
Disclosure of Invention
The invention aims to provide a deflection walking system of an unmanned platform, which well solves the problems, has dual functions of deflection and walking, has strong flexibility, and gives consideration to high trafficability, high off-road performance and omnidirectional walking capability.
The invention adopts the technical scheme that the displacement walking system of the unmanned platform comprises a walking unit and a transmission unit, wherein the transmission unit comprises a displacement transmission unit and a walking transmission unit, the displacement transmission unit is used for changing the walking angle of the walking unit, and the walking transmission unit is used for driving the walking unit to walk.
Furthermore, the walking unit comprises a driving wheel, an inducer, a connecting plate and a crawler belt, wherein the driving wheel and the inducer are fixedly connected with the connecting plate through bearings, and the crawler belt is meshed with the outer edges of the driving wheel and the inducer.
Furthermore, the walking unit further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring, one end of the track tensioning spring is fixedly connected with the connecting plate, the other end of the track tensioning spring is fixedly connected with a tensioning wheel bearing plate, a tensioning wheel is arranged on the tensioning wheel bearing plate through a bearing, and the tensioning wheel is meshed with the track.
Furthermore, the transmission unit that shifts is including the driving motor that shifts, the transmission shaft that shifts, the transmission planetary reducer that shifts, the transmission master gear that shifts, the output shaft that shifts driving motor and the transmission planetary reducer that shifts rotate to be connected, the transmission planetary reducer that shifts is connected with the transmission master gear rotation that shifts through the transmission shaft that shifts, the fixed cover of transmission master gear that shifts is established on the transmission shaft that shifts.
Furthermore, the walking transmission unit comprises a driving wheel driving motor, a driving wheel transmission planetary reducer, a driving wheel driving gear shaft and a bevel gear transmission assembly, wherein an output shaft of the driving wheel driving motor is rotatably connected with the driving wheel transmission planetary reducer, the driving wheel transmission planetary reducer is fixedly connected with an input end of the bevel gear transmission assembly through the driving wheel driving gear shaft, and an output end of the bevel gear transmission assembly is fixedly connected with the driving wheel.
Furthermore, the walking transmission unit further comprises a comprehensive transmission box, the comprehensive transmission box is sleeved on the bevel gear transmission assembly, the input end and the output end of the comprehensive transmission box and the bevel gear transmission assembly are respectively connected through a bearing, a deflection transmission pinion is fixedly connected to the upper portion of the comprehensive transmission box, the deflection transmission pinion is sleeved on the driving wheel driving gear shaft, and the deflection transmission pinion is meshed with the deflection transmission main gear.
Further, still include the platform frame, the driving motor that shifts, action wheel driving motor upper end all with platform frame fixed connection.
Furthermore, the comprehensive transmission case is rotatably connected with the platform frame through a tapered roller bearing.
Furthermore, an electromagnetic brake is arranged between the displacement driving motor and the displacement transmission planetary reducer.
Furthermore, an electromagnetic brake is arranged between the driving wheel driving motor and the driving wheel transmission planetary reducer.
The invention has the beneficial effects that:
1. the invention discloses a displacement traveling system which is mainly used for an unmanned platform, and is provided with a traveling transmission unit for driving a traveling unit to travel and a displacement transmission unit for driving the traveling unit to integrally rotate, namely, the traveling unit can change the traveling angle and direction, so that the whole system has the dual functions of displacement and traveling, has strong flexibility, and can give consideration to high trafficability, high off-road property and omnidirectional traveling capacity;
2. the deflection transmission unit and the walking transmission unit are in simple gear driving connection, and the device has the advantages of simple structure, high reliability, difficult damage and long service life;
3. the walking unit adopts the crawler belt, the application range is wide, and the trafficability and the cross-country ability are greatly improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a diagrammatic view of the drive of the present invention;
FIG. 4 is a front view of the platform frame mounting structure of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a side view of the present invention in a configuration mounted to a platform frame;
FIG. 7 is an enlarged partial view of FIG. 6 at B;
FIG. 8 is a partial schematic view of the cross-sectional structure of FIG. 6 at C-C;
in the figure: 1. a traveling unit; 11. a driving wheel; 12. an inducer; 13. a connecting plate; 14. a crawler belt; 15. a track tensioning spring; 16. a tension pulley bearing plate; 17. a tension wheel; 2. a displacement transmission unit; 21. a deflection driving motor; 22. a deflection transmission shaft; 23. a shift transmission planetary reducer; 24. a deflection transmission main gear; 3. a walking transmission unit; 31. the driving wheel drives the motor; 32. the driving wheel drives the planetary reducer; 33. the driving wheel drives the gear shaft; 34. a bevel gear transmission assembly; 35. a comprehensive transmission case; 36. a modified transmission pinion; 37. a tapered roller bearing; 38. an electromagnetic brake; 4. a platform frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", etc. indicate orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 8, the invention provides a displacement walking system of an unmanned platform, which comprises a walking unit 1 and a transmission unit, wherein the transmission unit comprises a displacement transmission unit 2 and a walking transmission unit 3, the displacement transmission unit 2 is used for changing the walking angle of the walking unit 1, and the walking transmission unit 3 is used for driving the walking unit to walk 1.
Specifically, the method comprises the following steps: the walking unit 1 comprises a driving wheel 11, an inducer 12, a connecting plate 13 and a crawler 14, wherein the driving wheel 11 and the inducer 12 are fixedly connected with the connecting plate 13 through bearings, and the crawler 14 is meshed with the outer edges of the driving wheel 11 and the inducer 12. The crawler belt 13 is a rubber type crawler belt, and has wide application range and strong cross-country capability.
The walking unit 1 further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring 15, one end of the track tensioning spring is fixedly connected with the connecting plate 13, the other end of the track tensioning spring 15 is fixedly connected with a tensioning wheel bearing plate 16, a tensioning wheel 17 is arranged on the tensioning wheel bearing plate 16 through a bearing, and the tensioning wheel 17 is meshed with the track 14.
The whole crawler 14 is formed by connecting rubber crawler plates in pairs through connecting pins at the hinge parts of the crawler, the rubber crawler plates are meshed with the gear teeth of the driving wheel 11, the outer edge of the tension wheel 17 and the gear teeth of the inducer 12, the pre-tightening force of the crawler tension spring 15 needs to be adjusted before installation so as to ensure the normal work of the crawler 14, and the connecting number of the rubber crawler plates can be calculated by calculating the total length of the crawler 14.
The deflection transmission unit 2 comprises a deflection driving motor 21, a deflection transmission shaft 22, a deflection transmission planetary reducer 23 and a deflection transmission main gear 24, wherein an output shaft of the deflection driving motor 21 is rotatably connected with the deflection transmission planetary reducer 23, the deflection transmission planetary reducer 23 is rotatably connected with the deflection transmission main gear 24 through the deflection transmission shaft 22, and the deflection transmission main gear 24 is fixedly sleeved on the deflection transmission shaft 22 through a spline. Namely, the displacement driving motor 21 drives the displacement transmission planetary reducer 23 to rotate, then the displacement transmission planetary reducer 23 decelerates the displacement driving motor 21 and drives the displacement transmission shaft 22 to rotate, the displacement transmission master gear 24 is fixed on the displacement transmission shaft 22 through a spline, and the displacement transmission shaft 22 drives the displacement transmission master gear 24 to rotate.
The walking transmission unit 3 comprises a driving wheel driving motor 31, a driving wheel transmission planetary reducer 32, a driving wheel driving gear shaft 33 and a bevel gear transmission assembly 34, an output shaft of the driving wheel driving motor 31 is rotatably connected with the driving wheel transmission planetary reducer 32, the driving wheel transmission planetary reducer 32 is fixedly connected with an input end of the bevel gear transmission assembly 34 through the driving wheel driving gear shaft 33, and an output end of the bevel gear transmission assembly 34 is fixedly connected with the driving wheel 11. That is, the driving wheel driving motor 31 drives the driving wheel driving planetary reducer 32 to rotate, the driving wheel driving planetary reducer 32 drives the driving wheel driving gear shaft 33 to rotate, the driving wheel driving gear shaft 33 drives the input end of the bevel gear driving assembly 34 to rotate, the input end of the bevel gear driving assembly 34 drives the output end of the bevel gear driving assembly 34 to rotate, the output end of the bevel gear driving assembly 34 is fixedly connected with the driving wheel 11, that is, the driving wheel 11 is driven to rotate together, and the driving wheel 11 then drives the caterpillar band 14 to rotate, so as to realize the walking.
Still include platform frame 4, the driving motor 21 that shifts, action wheel driving motor 31 upper end all pass through bolt and nut and platform frame 4 fixed connection. The axes of the shift driving motor 21 and the driving wheel driving motor 31 are parallel to the vertical line of the whole platform frame 4.
An electromagnetic brake 38 is disposed between the displacement driving motor 21 and the displacement transmission planetary reducer 23 for performing rotation and braking of the traveling unit 1. An electromagnetic brake 38 is disposed between the driving wheel driving motor 31 and the driving wheel transmission planetary reducer 32 for driving and braking the traveling unit 1.
The walking transmission unit 3 further comprises a comprehensive transmission case 35, the comprehensive transmission case 35 is sleeved on the bevel gear transmission assembly 34, the input end and the output end of the comprehensive transmission case 35 and the bevel gear transmission assembly 34 are respectively connected through a bearing, a deflection transmission pinion 36 is fixedly connected to the upper portion of the comprehensive transmission case 35, the deflection transmission pinion 36 is sleeved on the driving wheel driving gear shaft 33, and the deflection transmission pinion 36 is meshed with the deflection transmission main gear 24. The integrated transmission case 35 is rotatably connected with the platform frame 4 through a tapered roller bearing 37.
That is, the integrated transmission case 35 is sleeved on the bevel gear transmission assembly 34, the integrated transmission case 35 is connected with the input end and the output end of the bevel gear transmission assembly 34 through bearings, the deflection transmission pinion 36 fixedly connected with the integrated transmission case 35 does not affect the power transmission between the driving wheel driving gear shaft 33 and the bevel gear transmission assembly 34, the bevel gear transmission assembly 34 can carry out the power transmission in the integrated transmission case 35 without causing the movement of the integrated transmission case 35, the integrated transmission case 35 is fixedly connected with the deflection transmission pinion 36, the deflection transmission pinion 36 is engaged with the deflection transmission main gear 24, the deflection driving motor 21 drives the deflection transmission main gear 24 to rotate, and then drives the deflection transmission pinion 36 to rotate, the integrated transmission case 35 rotates along with the deflection transmission pinion 36, and the integrated transmission case 35 drives the output shaft of the bevel gear transmission assembly 34 to rotate, the whole walking unit 1 is further driven to rotate, the walking unit 1 can change the walking angle and direction, and the walking unit 1 can rotate 360 degrees around the driving wheel driving gear shaft 33. The concrete structure is that the integrated transmission case 35 and the platform frame 4 are connected and fixed through an oil seal ring, a bearing seat, a tapered roller bearing 37, a retainer ring and a fastening screw, and the rotational motion freedom degree of the integrated transmission case 35 is ensured. Synthesize transmission case 35 and fix through two tapered roller bearings 37 and bearing retainer ring to utilize the bearing frame to seal at both ends, fill in the oil blanket circle and prevent the leakage of lubricating oil, utilize fastening screw and the screw hole cooperation on the platform frame 4 simultaneously, fix the bearing frame to on the platform frame 4.
As shown in fig. 3, the specific transmission process is as follows: the transmission route of the deflection traveling system is divided into a driving wheel driving transmission route and a track deflection transmission route, namely a traveling transmission route and a deflection transmission route. The driving wheel driving transmission route is that the driving wheel driving motor 31 inputs power to a sun wheel of the driving wheel driving planetary reducer 32, the power is output through a gear ring and then transmitted to the driving wheel 11 through the bevel gear transmission assembly 34, so that the driving wheel 11 is driven to rotate, and the unmanned platform is driven to move forward. The track displacement transmission route is that the displacement driving motor 21 inputs power to a sun gear of the displacement transmission planetary reducer 23, the power is output through a gear ring, and then the power is transmitted to the comprehensive transmission case 35 through the displacement transmission main gear 24 and the displacement transmission pinion 36, so that the whole track 14 is driven to perform displacement motion.
The displacement traveling system of the unmanned platform can be applied to the unmanned platform and can also be applied to other vehicles. The application range is wide, and a plurality of displacement walking systems can be installed on one unmanned platform to support the displacement walking of the unmanned platform. The unmanned platform has the advantages that the unmanned platform is guaranteed to run in all directions, stronger cross-country performance and trafficability are met, the unmanned platform can work on various terrains, and the application range is wide.
The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides an unmanned platform's traveling system that shifts which characterized in that: the device comprises a walking unit and a transmission unit, wherein the transmission unit comprises a displacement transmission unit and a walking transmission unit, the displacement transmission unit is used for changing the walking angle of the walking unit, and the walking transmission unit is used for driving the walking unit to walk.
2. The unmanned platform displacement walking system of claim 1, wherein: the walking unit comprises a driving wheel, an inducer, a connecting plate and a crawler belt, wherein the driving wheel and the inducer are fixedly connected with the connecting plate through bearings, and the crawler belt is meshed with the outer edges of the driving wheel and the inducer.
3. The unmanned platform displacement walking system of claim 2, wherein: the walking unit further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring, one end of the track tensioning spring is fixedly connected with the connecting plate, the other end of the track tensioning spring is fixedly connected with a tensioning wheel bearing plate, a tensioning wheel is arranged on the tensioning wheel bearing plate through a bearing, and the tensioning wheel is meshed with the track.
4. The unmanned platform displacement walking system of claim 2, wherein: the transmission unit that shifts is including the driving motor that shifts, the transmission shaft that shifts, the transmission planetary reducer that shifts, the transmission master gear that shifts, the output shaft that shifts driving motor rotates with the transmission planetary reducer that shifts and is connected, the transmission planetary reducer that shifts is connected through the transmission shaft that shifts and the transmission master gear that shifts rotates, the fixed cover of transmission master gear that shifts is established on the transmission shaft that shifts.
5. The unmanned platform displacement walking system of claim 4, wherein: the walking transmission unit comprises a driving wheel driving motor, a driving wheel transmission planetary reducer, a driving wheel driving gear shaft and a bevel gear transmission assembly, wherein an output shaft of the driving wheel driving motor is rotatably connected with the driving wheel transmission planetary reducer, the driving wheel transmission planetary reducer is fixedly connected with an input end of the bevel gear transmission assembly through the driving wheel driving gear shaft, and an output end of the bevel gear transmission assembly is fixedly connected with a driving wheel.
6. The unmanned platform displacement walking system of claim 5, wherein: the walking transmission unit further comprises a comprehensive transmission box, the comprehensive transmission box is sleeved on the bevel gear transmission assembly, the input end and the output end of the comprehensive transmission box and the bevel gear transmission assembly are respectively connected through a bearing, a deflection transmission pinion is fixedly connected to the upper portion of the comprehensive transmission box, the deflection transmission pinion is sleeved on a driving wheel driving gear shaft, and the deflection transmission pinion is meshed with the deflection transmission main gear.
7. The unmanned platform displacement walking system of claim 6, wherein: still include the platform frame, the driving motor that shifts, action wheel driving motor upper end all with platform frame fixed connection.
8. The unmanned platform displacement walking system of claim 7, wherein: the comprehensive transmission case is rotationally connected with the platform frame through a tapered roller bearing.
9. The unmanned platform displacement walking system of claim 4, wherein: an electromagnetic brake is arranged between the deflection driving motor and the deflection transmission planetary reducer.
10. The unmanned platform displacement walking system of claim 5, wherein: an electromagnetic brake is arranged between the driving wheel driving motor and the driving wheel transmission planetary reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911117706.5A CN111055939A (en) | 2019-11-15 | 2019-11-15 | Displacement walking system of unmanned platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911117706.5A CN111055939A (en) | 2019-11-15 | 2019-11-15 | Displacement walking system of unmanned platform |
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| Publication Number | Publication Date |
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| CN111055939A true CN111055939A (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911117706.5A Pending CN111055939A (en) | 2019-11-15 | 2019-11-15 | Displacement walking system of unmanned platform |
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Citations (5)
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| DE102004001701A1 (en) * | 2004-01-13 | 2005-08-04 | Linde Ag | Drive unit for fork-lift trucks comprises housing, in top of which bearing bush is mounted, through which drive shaft of motor passes and around which tapered roller bearings are mounted |
| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| CN101222157A (en) * | 2006-12-21 | 2008-07-16 | 容海因里希股份公司 | Drive unit with propulsion and steering motor for the drive wheel of an industrial truck |
| CN203158112U (en) * | 2013-01-28 | 2013-08-28 | 中国科学院合肥物质科学研究院 | Bionic crawler type conglutination traveling mechanism |
| CN107910806A (en) * | 2017-09-20 | 2018-04-13 | 国网辽宁省电力有限公司检修分公司 | A kind of cable tunnel inspection robot and air navigation aid |
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2019
- 2019-11-15 CN CN201911117706.5A patent/CN111055939A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004001701A1 (en) * | 2004-01-13 | 2005-08-04 | Linde Ag | Drive unit for fork-lift trucks comprises housing, in top of which bearing bush is mounted, through which drive shaft of motor passes and around which tapered roller bearings are mounted |
| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| CN101222157A (en) * | 2006-12-21 | 2008-07-16 | 容海因里希股份公司 | Drive unit with propulsion and steering motor for the drive wheel of an industrial truck |
| CN203158112U (en) * | 2013-01-28 | 2013-08-28 | 中国科学院合肥物质科学研究院 | Bionic crawler type conglutination traveling mechanism |
| CN107910806A (en) * | 2017-09-20 | 2018-04-13 | 国网辽宁省电力有限公司检修分公司 | A kind of cable tunnel inspection robot and air navigation aid |
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Application publication date: 20200424 |