CN111993850A - Crawler auxiliary walking system - Google Patents
Crawler auxiliary walking system Download PDFInfo
- Publication number
- CN111993850A CN111993850A CN202010933124.0A CN202010933124A CN111993850A CN 111993850 A CN111993850 A CN 111993850A CN 202010933124 A CN202010933124 A CN 202010933124A CN 111993850 A CN111993850 A CN 111993850A
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- Prior art keywords
- crawler
- track
- wheel
- hydro
- walking system
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- 239000000411 inducer Substances 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims abstract description 11
- 230000035939 shock Effects 0.000 abstract description 6
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 208000006011 Stroke Diseases 0.000 description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000001939 inductive effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- 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
-
- 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
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
- B62D55/1125—Hydro-pneumatic or pneumatic, e.g. air-cushioned
-
- 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
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a crawler auxiliary walking system, which comprises a crawler walking mechanism and a lifting mechanism, wherein the lifting mechanism enables the crawler walking mechanism to move in the vertical direction and pitch along the traveling direction. The inducer is arranged at the joint of the advancing direction of the crawler to enable the crawler traveling mechanism to form a regular trapezoid structure with a narrow top and a wide bottom, the length and the grounding area of the crawler grounding wire are increased, the occupation of the space of a chassis of a vehicle body when the crawler is lifted is reduced, the grabbing and traction of the crawler on soft ground are improved, the crawler traveling mechanism is longitudinally retracted and extended through the lifting mechanism, the rotation of the crawler traveling mechanism around the connecting point of the swing arm is actively controlled through the double-hydro-pneumatic spring structure, the pitching freedom of the crawler traveling mechanism in the advancing direction is increased, and the passing capacity of the crawler auxiliary system on a muddy road is improved. By adopting the second-level oil pipe with short stroke and small damping, the function similar to spring shock absorption is achieved, and the motion stability of the vehicle crawler chassis is improved.
Description
Technical Field
The invention belongs to the field of amphibious platforms, and particularly relates to a track auxiliary walking system.
Background
An amphibious platform is a vehicle which can run on water and land, and is widely used in the fields of freight transportation and aquaculture; the existing amphibious platform mainly uses two driving modes: wheel type, crawler type. The wheel type amphibious pavement has excellent high-speed maneuverability on a flat pavement, but is easy to sink under soft ground; the crawler type amphibious vehicle has larger ground contact area, good obstacle crossing performance and good trafficability performance under complex and severe road conditions, but due to the structural limitation of a crawler system, higher moving speed is difficult to obtain.
Disclosure of Invention
The invention aims to solve the technical problem of how to enable an amphibious vehicle to pass at a high speed under the condition of a good road surface and at a high speed under the condition of a bad road surface, solve the trafficability problem of the amphibious vehicle under the condition of a near-water beach, and provide a track auxiliary traveling system.
In order to solve the problem, the technical scheme adopted by the invention is as follows:
a crawler-assisted traveling system includes a crawler traveling mechanism, and a lifting mechanism that moves the crawler traveling mechanism in a vertical direction and pitches in a traveling direction.
The crawler traveling mechanism comprises a crawler, a crawler chassis bracket, a driving wheel, an inducer, a tension wheel, a supporting wheel and a loading wheel, the crawler belt forms a flexible chain ring around the driving wheel, the inducer, the tension wheel, the supporting wheel and the loading wheel, the driving wheel, the inducer, the tension wheel, the supporting wheel and the loading wheel are respectively fixed on the crawler chassis bracket, the driving wheel is arranged at one end of the crawler which is grounded, the induction wheel is arranged at the other end, which is grounded and is opposite to the driving wheel, of the crawler belt and is used for inducing and supporting the crawler belt, the tensioning wheel is arranged above the induction wheel, and a tensioning spring is arranged between the tensioning wheel and the crawler chassis support, the supporting wheels are arranged above the crawler chassis support and are in contact with the inner side of the crawler, and the plurality of loading wheels are arranged below the crawler chassis support.
The lifting mechanism comprises a swing arm and two hydro-pneumatic springs which are arranged above the crawler chassis support in a front-back mode, a hydraulic cylinder of each hydro-pneumatic spring is hinged to the body of the mobile platform, the free end of a stroke pipe of each hydro-pneumatic spring is hinged to the crawler chassis support, one end of the swing arm is hinged to the crawler chassis support, and the other end of the swing arm is hinged to the body of the mobile platform.
The stroke pipe comprises two stages of stroke pipes, wherein a first stage stroke pipe is close to the hydraulic cylinder, a second stage stroke pipe is far away from the hydraulic cylinder, the first stage stroke pipe adopts an oil pipe with long stroke and large damping, the second stage stroke pipe adopts an oil pipe with short stroke and small damping, and the free end of the second stage stroke pipe is connected with the crawler chassis support.
Furthermore, a hydro-pneumatic spring support for supporting a hydro-pneumatic spring is also arranged on the crawler chassis support.
Furthermore, the crawler traveling mechanism is of a regular trapezoid structure with a narrow upper part and a wide lower part.
Further, a damping spring is arranged between the bogie wheel and the crawler chassis support.
Furthermore, the inducer is arranged at the junction of the advancing direction of the crawler belt, so that the crawler belt walking mechanism forms a regular trapezoid structure with a narrow top and a wide bottom.
The invention also provides an amphibious mobile platform which comprises a vehicle body and a wheel type walking mechanism and is characterized in that the vehicle body is also provided with the crawler auxiliary walking system.
Compared with the prior art, the invention has the following beneficial effects:
according to the crawler auxiliary walking system, the inducer is arranged at the joint of the crawler forward direction, so that the crawler walking mechanism forms a regular trapezoid structure with a narrow top and a wide bottom, the length of a crawler grounding line is effectively increased, the crawler grounding area is greatly increased, the occupied space of a vehicle body chassis is reduced when the crawler is lifted, the ground gripping performance, the traction performance, the steering stability and the movement and mud and water discharging capacity of the crawler on soft ground are improved, the longitudinal retracting and releasing functions of the crawler walking mechanism are increased by arranging the lifting mechanism, the crawler auxiliary walking system is used according to the needs of a road surface, the rotation of the crawler walking mechanism around the connection point of the swing arm is actively controlled by arranging the double oil-gas spring structure, the pitching freedom degree of the crawler walking mechanism in the forward direction is increased, and the shock absorption capacity and the mud road surface passing capacity of the crawler auxiliary system are improved. By adopting the second-level oil pipe with short stroke and small damping, the function similar to spring shock absorption is achieved, and the motion stability of the vehicle crawler chassis is improved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic structural view of a hydro-pneumatic spring;
FIG. 3 is a schematic view of a swing arm structure;
FIG. 4 is a schematic view of the lifting mechanism shown retracted;
FIG. 5 is a schematic view of the track unit pitching in the forward direction;
FIG. 6 is a schematic view of an amphibious mobile platform equipped with a track-assisted walking system;
FIG. 7 is a schematic diagram of the driving mode switching of the amphibious mobile platform.
Description of the figures
1. The device comprises a crawler traveling mechanism, 11, a crawler, 12, a crawler chassis support, 13, supporting wheels, 14, a tensioning wheel, 15, an inducer, 16, a loading wheel, 17, a driving wheel, 18, a tensioning spring, 19, a damping spring, 2, a lifting mechanism, 21, a swing arm, 22, a hydro-pneumatic spring, 221, a hydraulic cylinder, 222, a stroke pipe, 2221, a primary stroke pipe, 2222, a secondary stroke pipe, 23 and a hydro-pneumatic spring support.
Detailed Description
Fig. 1 to 5 show a specific embodiment of a crawler auxiliary traveling system of the present invention, as shown in fig. 1, including a crawler traveling mechanism 1, and a lifting mechanism 2 for moving the crawler traveling mechanism in a vertical direction and pitching it in a traveling direction. Under the better condition of road surface condition, pack up track auxiliary traveling system through hoist mechanism, make the moving platform advance fast, under the complicated road conditions of land and water boundary zone, put down ground connection with track running gear 1 through hoist mechanism 2, increase moving platform's ground connection area promotes moving platform traction force, has solved the trafficability characteristic difficult problem of amphibious vehicle under the nearly water mud flat road conditions.
In the present embodiment, as shown in fig. 1, the crawler belt traveling mechanism includes a crawler belt 11 sequentially connected with a supporting wheel 13, a tensioning wheel 14, an inducer 15, a bogie wheel 16 and a driving wheel 17 to form a flexible chain, the supporting wheel 13, the tensioning wheel 14, the inducer 15, the bogie wheel 16 and the driving wheel 17 are respectively fixed on a crawler chassis frame 12, the driving wheel 17 is disposed at the rear end of the crawler belt 11 which is grounded, and is connected with a power driving system for driving the crawler belt 11 to move forward, the inducer 15 is arranged at the ground of the crawler belt 11 and is positioned at one side far away from the driving wheel 17, for inducing and supporting the crawler belt 11, a tension wheel 14 is arranged at the right upper part of the inducing wheel 15 and at the turning point of the advancing direction of the crawler belt walking mechanism 1, a tension spring 18 is installed between the tension wheel 14 and the track chassis frame 12, a plurality of support wheels 13 are disposed above the track chassis frame 12 and in contact with the inside of the track 11, and a plurality of bogie wheels 16 are disposed below the track chassis frame 12. In the embodiment, the inducer 15 is arranged at the forward running direction junction of the crawler 11, the tension wheel 14 is arranged at the upper right side of the inducer 15 and is used for inducing and supporting the crawler 11 and adjusting the tightness degree and the grounding area of the crawler 11 in real time, and the arrangement positions of the inducer 15, the driving wheel 17, the supporting wheel 13 and the tension wheel 14 enable the crawler running mechanism 1 to be in a regular trapezoid structure with a narrow top and a wide bottom, so that a smaller vehicle body space can be occupied when the crawler auxiliary running system is contracted into a vehicle body, and the grounding area of the surface of the crawler can be greatly increased on the premise of not influencing the high-speed driving performance of the wheels; and the regular trapezoid structure with narrow top and wide bottom reduces the occupied space of the chassis of the vehicle body when the crawler belt is lifted, and improves the ground gripping performance, the traction performance, the steering stability and the moving and mud water discharging capability of the crawler belt 11 on soft ground.
In this embodiment, the motor housing of the driving wheel 17 is fixed on the chassis frame 12 of the caterpillar track, the motor rotor provides power, the power is transmitted to the caterpillar track 11 by meshing the gear teeth of the driving wheel 17 with the internal teeth of the caterpillar track, the supporting wheel 13 is used for supporting the upper caterpillar track 11, the energy loss caused by the oscillation of the caterpillar track 11 is reduced, and the phenomenon that the smooth running of the belt wheel is hindered due to the overlarge sagging amount of the loose edge on the upper part of the caterpillar track 11 is prevented; the tension wheel 14 is arranged at the right upper part of the inducer 15 and at the inflection point of the advancing direction of the crawler 1, and is used for pressing the crawler chain and preventing the crawler chain from slipping, and a tension spring 18 is further arranged between the tension wheel 14 and the crawler chassis support 12 and is used for providing tension force of the crawler 11, so that the crawler 11 can be pressed on the tension wheel 14 with proper pressure. The loading wheel 16 is used as a main bearing mechanism and a traveling mechanism and is used for ensuring the stable running of the crawler and overcoming obstacles; in this embodiment, three bogie wheels 16 are provided, but a plurality of bogie wheels may be provided as required. Shock absorbing springs 19 are mounted between bogie wheels 16 and track chassis frame 12 to absorb shock between the vehicle and the road.
In this embodiment, the lifting mechanism 2 includes a swing arm 21 and two hydro-pneumatic springs 22 arranged on the crawler chassis support 12 in front and back, as shown in fig. 2, a hydraulic cylinder 221 of the hydro-pneumatic spring 22 is hinged to the body of the mobile platform, a free end of a stroke pipe 222 of the hydro-pneumatic spring 22 is hinged to the crawler chassis support 12, as shown in fig. 3, one end of the swing arm 21 is hinged to the crawler chassis support 12, and the other end is hinged to the body of the mobile platform. When the two hydro-pneumatic springs 22 extend and retract together, as shown in fig. 4, the crawler traveling mechanism 1 and the swing arm 21 are pushed to rotate together around the hinge point of the swing arm 21 and the vehicle body of the mobile platform, so that the crawler traveling mechanism is retracted and released; when the flexible volume of two hydro-pneumatic springs 22 is inconsistent, as shown in fig. 5, track running gear 1 is rotatory around the pin joint of swing arm 21 and track chassis support 12, two hydro-pneumatic springs 22 initiative control track running gear around the rotation of swing arm tie point, increased track running gear along the every single move degree of freedom of advancing direction, improved track auxiliary system shock-absorbing capacity and muddy road surface throughput, realize track running gear along the pitching motion of advancing direction to the realization is to the initiative adaptation of different road surface environment. Under the wheel-track combined driving state, the swing arm and the double hydro-pneumatic springs jointly realize the downward movement of the track walking mechanism, and the amphibious vehicle is driven by the combination of the tires and the tracks.
In this embodiment, the stroke pipe 222 includes two stages of stroke pipes, the first stage stroke pipe 2221 is close to the hydraulic cylinder 221, the second stage stroke pipe 2222 is far from the hydraulic cylinder, the first stage stroke pipe 2221 adopts an oil pipe with long stroke and large damping, the load is high, the linear retracting movement of the track assembly system is realized, and the free end of the second stage stroke pipe 2222 is connected with the track chassis support 12. The secondary stroke pipe 2222 adopts an oil pipe with short stroke, low load and small damping, so that the function similar to spring shock absorption is achieved, and the motion stability of the vehicle crawler chassis is improved. Of course, the stroke pipe 222 may be a multi-stage stroke pipe.
The invention also provides an amphibious mobile platform, which comprises a vehicle body and a wheel type walking mechanism as shown in figure 6, wherein the vehicle body is also provided with a front crawler auxiliary walking system. Under the condition of high-speed maneuvering of the paved road surface, the crawler auxiliary walking system is retracted, and as shown in a in figure 7, the pavement is rapidly moved by wheel type power; under the complex road condition of an amphibious intersection, the auxiliary walking system of the crawler is put down for grounding, as shown in b in fig. 7, the grounding area of the vehicle is increased, the traction force of the vehicle is improved, and the trafficability problem of the amphibious vehicle under the condition of a near-water beach is solved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (8)
1. A track-assisted walking system is characterized in that: the lifting mechanism enables the crawler travelling mechanism to move in the vertical direction and pitch along the travelling direction.
2. A track-assisted walking system according to claim 1, wherein: the crawler traveling mechanism comprises a crawler, a crawler chassis support, a plurality of supporting wheels, a tensioning wheel, an inducer, a plurality of loading wheels and a driving wheel, the crawler is sequentially connected with the supporting wheels, the tensioning wheel, the inducer, the loading wheels and the driving wheel to form a flexible chain ring, the supporting wheels, the tensioning wheel, the inducer, the loading wheels and the driving wheel are respectively fixed on the crawler chassis support, the driving wheel is arranged at the rear end of the crawler in a grounding mode and is connected with a power driving system to drive the crawler to move forwards, the inducer is arranged at the junction of the forward direction of the crawler and is positioned at one end far away from the driving wheel to induce and support the crawler, the tensioning wheel is arranged above the inducer in the right direction and is positioned at the inflection point of the forward direction of the crawler traveling mechanism, a tensioning spring is installed between the tensioning wheel and the crawler chassis support, and the supporting wheels are arranged above the crawler chassis support and are in, a plurality of the road wheels are disposed below the track chassis frame.
3. A track-assisted walking system according to claim 2, wherein: the lifting mechanism comprises a swing arm and two hydro-pneumatic springs which are arranged above the crawler chassis support in a front-back mode, a hydraulic cylinder of each hydro-pneumatic spring is hinged to the body of the mobile platform, the free end of a stroke pipe of each hydro-pneumatic spring is hinged to the crawler chassis support, one end of the swing arm is hinged to the crawler chassis support, and the other end of the swing arm is hinged to the body of the mobile platform.
4. A track assisted walking system as claimed in claim 3, wherein: the stroke pipe comprises a two-stage stroke pipe, a first-stage stroke pipe is close to the hydraulic cylinder, a second-stage stroke pipe is far away from the hydraulic cylinder, the first-stage stroke pipe adopts an oil pipe with long stroke and large damping, the second-stage stroke pipe adopts an oil pipe with short stroke and small damping, and the free end of the second-stage oil pipe is connected with the crawler chassis support.
5. A track assisted walking system as claimed in claim 3, wherein: and the crawler chassis support is also provided with a hydro-pneumatic spring support for supporting a hydro-pneumatic spring.
6. A track-assisted walking system according to claim 1, wherein: the crawler traveling mechanism is of a regular trapezoid structure with a narrow upper part and a wide lower part.
7. A track-assisted walking system according to any one of claims 1 to 6, wherein: and a damping spring is arranged between the bogie wheel and the crawler chassis bracket.
8. An amphibious mobile platform, comprising a vehicle body and a wheel type walking mechanism, wherein the vehicle body is further provided with a track auxiliary walking system according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010933124.0A CN111993850A (en) | 2020-09-08 | 2020-09-08 | Crawler auxiliary walking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010933124.0A CN111993850A (en) | 2020-09-08 | 2020-09-08 | Crawler auxiliary walking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993850A true CN111993850A (en) | 2020-11-27 |
Family
ID=73469573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010933124.0A Pending CN111993850A (en) | 2020-09-08 | 2020-09-08 | Crawler auxiliary walking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993850A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937705A (en) * | 2021-03-12 | 2021-06-11 | 徐工集团工程机械股份有限公司 | Rubber track chassis system and engineering machinery |
| CN113370721A (en) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | Control strategy and system for three-axis unmanned vehicle to deal with field special tasks |
| CN113441501A (en) * | 2021-07-07 | 2021-09-28 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113665695A (en) * | 2021-07-16 | 2021-11-19 | 中国北方车辆研究所 | Liftable belt-driven crawler walking mechanism |
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| CN1292331A (en) * | 2000-07-12 | 2001-04-25 | 刘惠清 | Automobile with all road conditions |
| US20030222432A1 (en) * | 2002-03-08 | 2003-12-04 | Honda Giken Kogyo Kabushiki Kaisha | Independent suspension for multi-use vehicle |
| DE102005013692A1 (en) * | 2005-03-22 | 2006-10-05 | Grobler, Hendrik, Dr., Clyde Park | Motor vehicle e.g. all-terrain vehicle, has additional-crawler undercarriage mounted between controlled and uncontrolled wheel axes and including unit for extending and running-in connection of undercarriage |
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| CN108633455A (en) * | 2018-03-23 | 2018-10-12 | 华南农业大学 | A kind of triangle crawler type segmenting type sugar cane combine harvester |
| CN110065543A (en) * | 2019-05-05 | 2019-07-30 | 北京中资燕京汽车有限公司 | A kind of independent suspension for vehicle system, a kind of wheel carry out conversion vehicle and driving mode conversion method |
| CN210416784U (en) * | 2019-06-24 | 2020-04-28 | 北海职业学院 | Wheel-track composite chassis of lifting track frame |
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2020
- 2020-09-08 CN CN202010933124.0A patent/CN111993850A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1292331A (en) * | 2000-07-12 | 2001-04-25 | 刘惠清 | Automobile with all road conditions |
| US20030222432A1 (en) * | 2002-03-08 | 2003-12-04 | Honda Giken Kogyo Kabushiki Kaisha | Independent suspension for multi-use vehicle |
| DE102005013692A1 (en) * | 2005-03-22 | 2006-10-05 | Grobler, Hendrik, Dr., Clyde Park | Motor vehicle e.g. all-terrain vehicle, has additional-crawler undercarriage mounted between controlled and uncontrolled wheel axes and including unit for extending and running-in connection of undercarriage |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937705A (en) * | 2021-03-12 | 2021-06-11 | 徐工集团工程机械股份有限公司 | Rubber track chassis system and engineering machinery |
| CN113441501A (en) * | 2021-07-07 | 2021-09-28 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113441501B (en) * | 2021-07-07 | 2022-05-27 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113665695A (en) * | 2021-07-16 | 2021-11-19 | 中国北方车辆研究所 | Liftable belt-driven crawler walking mechanism |
| CN113370721A (en) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | Control strategy and system for three-axis unmanned vehicle to deal with field special tasks |
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Application publication date: 20201127 |
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