CN112407220A - Amphibious vehicle hybrid transmission and its amphibious vehicle - Google Patents
Amphibious vehicle hybrid transmission and its amphibious vehicle Download PDFInfo
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- CN112407220A CN112407220A CN202011305675.9A CN202011305675A CN112407220A CN 112407220 A CN112407220 A CN 112407220A CN 202011305675 A CN202011305675 A CN 202011305675A CN 112407220 A CN112407220 A CN 112407220A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- 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
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0283—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing using gears having orbital motion
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
本发明的两栖车混合动力变速器，属于两栖车变速器的技术领域，解决现有技术中的两栖车登陆耗时长技术问题。该变速器包括推进器驱动机构、车轮驱动机构、齿轮机构和传动组件，其中：所述推进器驱动机构，用于两栖车在水中前行的动力输出；所述车轮驱动机构，用于车轮(21)在陆地行驶的动力输出；所述齿轮机构与所述推进器驱动机构转动连接，且通过所述传动组件与所述车轮驱动机构转动连接；在两栖车放下车轮(21)登陆时，所述车轮驱动机构的动力输出通过所述传动组件专递至所述齿轮机构，并通过所述齿轮机构传递至所述推进器驱动机构，以增加推进器驱动机构动力输出。本发明用以增加量洗车使用功能，满足其登陆时间短的要求。
The hybrid transmission for amphibious vehicles of the present invention belongs to the technical field of transmissions for amphibious vehicles, and solves the technical problem that the landing of amphibious vehicles takes a long time in the prior art. The transmission includes a propeller driving mechanism, a wheel driving mechanism, a gear mechanism and a transmission assembly, wherein: the propeller driving mechanism is used for the power output of the amphibious vehicle in water; the wheel driving mechanism is used for the wheels (21 ) power output for driving on land; the gear mechanism is rotatably connected with the propeller drive mechanism, and is rotatably connected with the wheel drive mechanism through the transmission assembly; when the amphibious vehicle puts down the wheels (21) to land, the The power output of the wheel driving mechanism is exclusively delivered to the gear mechanism through the transmission assembly, and is transmitted to the propeller driving mechanism through the gear mechanism, so as to increase the power output of the propeller driving mechanism. The present invention is used to increase the use function of car washing and meet the requirement of short landing time.
Description
Technical Field
The invention belongs to the technical field of transmissions of amphibious vehicles, and particularly relates to a hybrid power transmission of an amphibious vehicle and the amphibious vehicle.
Background
The amphibious armored vehicle can automatically pass through water barriers such as rivers, lakes and seas without auxiliary equipment such as a boat bridge, a ferry and the like, and can sail on water and run on land.
In the process of landing or boarding the amphibious vehicle, the propeller and the wheels cannot work simultaneously, the propeller is required to increase the thrust, the vehicle can rush to the shore or the deck by means of inertia, and when the wheels contact the ground or the deck, the power is switched, and the wheels work, so that the vehicle can land or board the amphibious vehicle. However, in the process, the wheels need to be discharged out of the cabin first, so that the vehicle body can be supported when the vehicle lands or gets on the ship, the resistance of the vehicle body in water is increased, and the propeller is used alone to push the vehicle body to land or get on the ship, so that the consumed time is long, generally 12-15 minutes.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a hybrid power transmission of an amphibious vehicle, and solves the technical problem that the landing of the amphibious vehicle is long in time in the prior art. The technical scheme of the scheme has a plurality of technical beneficial effects, which are described as follows:
the present scheme provides on the one hand an amphibious car hybrid transmission, including propeller actuating mechanism, wheel actuating mechanism, gear mechanism and transmission assembly, wherein:
the propeller driving mechanism is used for outputting power for the amphibious vehicle to move forwards in water;
the wheel driving mechanism is used for outputting power when wheels run on the land;
the gear mechanism is rotationally connected with the propeller driving mechanism and is rotationally connected with the wheel driving mechanism through the transmission assembly;
when the wheels of the amphibious vehicle are put down to land, the power output of the wheel driving mechanism is specially transmitted to the gear mechanism through the transmission assembly, and is transmitted to the propeller driving mechanism through the gear mechanism so as to increase the power output of the propeller driving mechanism. According to the technical scheme, the principle of mechanical transmission is ingeniously utilized, through the arranged transmission assembly, when the amphibious vehicle lands, the transmission assembly transmits kinetic energy of the vehicle wheel driving mechanism to the gear assembly, the rotating speed of the gear assembly is increased so that mechanical energy transmitted to the propeller driving mechanism by the gear can be increased, the water discharge of the propeller driving mechanism is increased, under the condition of the same-power propeller driving mechanism, the impulse of the amphibious vehicle during landing is increased, the amphibious vehicle is assisted to land or get on a ship quickly, and the landing time of the amphibious vehicle is saved by at least 5-7 minutes.
In a preferred or alternative embodiment, the gear mechanism is driven in a flat shaft drive manner, which can increase the compactness of each component, reduce the space occupation, and reduce the wear between the components.
In a preferred or alternative embodiment, the transmission assembly comprises a first gear and a first gear assembly, wherein: the first gear is respectively connected with the gear mechanism and the first gear assembly in a rotating mode, and the first gear assembly is connected with the wheel driving mechanism in a rotating mode.
The transmission assembly can be a transmission gear assembly, such as a planetary gear assembly or a sun gear assembly, and is easy to design, simple in structure and low in economic cost.
In a preferred or alternative embodiment, the first gear assembly comprises at least two second and third gears in mesh with each other, wherein:
the first gear is rotationally connected with the second gear, for example, in a gear mesh manner;
the second gear and/or the third gear are/is rotationally connected with the wheel driving mechanism;
the first gear and/or the second gear and/or the third gear are/is connected with a shell of the transmission through a rotating shaft.
The engine is further included in a preferred or alternative embodiment, the gear mechanism is a planetary gear mechanism which comprises a planet carrier, and a planetary gear assembly and a sun gear which are rotationally connected are installed in the planet carrier;
propeller actuating mechanism includes, the water jet propulsion ware of mutual rotation connection, connects normally opening clutch and drive propeller, wherein:
the planetary gear assembly is connected with an output shaft of the driving propeller through the normally-open clutch and the water jet propeller;
and a flywheel of the engine is rotationally connected with the planet carrier through a damping clutch.
In a preferred or alternative embodiment, a generator and a battery electrically connected to the generator, the battery being electrically connected to the wheel drive mechanism, the generator being equipped with a brake, wherein:
the sun wheel is connected with the brake, mechanical energy is converted into electric energy through the generator and is stored in the storage battery, and the storage battery can be used as the wheel driving mechanism to provide electric energy.
In a preferred or alternative embodiment, the wheel drive mechanism comprises a rotationally coupled normally closed wheel drive clutch, an axle reducer, a differential and an electric motor, wherein:
the motor is electrically connected with the storage battery;
the second gear is connected with the axle speed reducer through the normally closed wheel driving clutch, and power is output to wheels through the main speed reducer and the differential;
the third gear is respectively and rotationally connected with the electric motor and the axle speed reducer, the mechanical energy of the electric motor is transmitted to the axle speed reducer through the third gear, and the axle speed reducer outputs the mechanical energy of the electric motor to wheels through the differential rotationally connected with the axle speed reducer;
when the wheels of the amphibious vehicle are put down to land, the motor drives the third gear to rotate so as to drive the second gear to drive the first gear to rotate, the rotating speed of the planetary gear assembly is increased by the first gear, the rotating speed of the output shaft of the driving propeller is increased, the water displacement of the driving propeller is increased, and the landing power of the amphibious vehicle is improved.
In a preferred or alternative embodiment, the first gear and the second gear, and/or the second gear and the third gear are rotationally connected by means of meshing or a chain.
Another aspect provides an amphibious vehicle equipped with an amphibious vehicle hybrid transmission as described above in part or in whole.
In a preferred or alternative embodiment, a housing is included that mounts the drive assembly via a shaft.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
according to the technical scheme, the principle of mechanical transmission is ingeniously utilized, through the arranged transmission assembly, when the amphibious vehicle lands, the transmission assembly transmits kinetic energy of the vehicle wheel driving mechanism to the gear assembly, the rotating speed of the gear assembly is increased so that mechanical energy transmitted to the propeller driving mechanism by the gear can be increased, the water discharge of the propeller driving mechanism is increased, under the condition of the same-power propeller driving mechanism, the impulse of the amphibious vehicle during landing is increased, the amphibious vehicle is assisted to land or get onto a ship quickly, and the landing time of the amphibious vehicle is saved for at least ten minutes.
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 drawings without creative efforts.
FIG. 1 is a schematic view of the overall rotation structure of the present invention;
FIG. 2 is a schematic diagram of the planet carrier transmission of the present invention;
FIG. 3 is a schematic diagram of the motor drive of the present invention;
wherein:
11. a normally open clutch; 12. a water jet propeller; 21. a wheel; 22. a normally closed wheel drive clutch; 23. an electric motor; 31. a sun gear; 32. an internal gear; 33. a planetary gear assembly; 34. a planet carrier; 41. a first gear; 42. a second gear; 43. a third gear; 5. an engine; 51. a damper clutch; 52. a generator; 521. and a brake.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. 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 is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in practical implementation, and the type, quantity and proportion of the components in practical implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that aspects may be practiced without these specific details. In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The terms "first", "second" and "first" are used for descriptive purposes only and are 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The amphibious vehicle hybrid transmission as shown in fig. 1-3 solves the technical problem that the landing of a product in the prior art is long in time. As described in the following:
this derailleur includes propeller actuating mechanism, wheel actuating mechanism, gear mechanism and transmission assembly, wherein:
the propulsion driving mechanism is used for outputting power of the amphibious vehicle advancing in water, generally comprises an engine 5, a propeller, an output shaft arranged on the propeller, a normally-open clutch 11, a water-jet propeller 12 and other transmission parts, wherein the propeller is used for draining water to provide power for the amphibious vehicle to travel in water, and other parts are used for rotating mechanical energy of the engine 5;
a wheel driving mechanism for outputting power for driving the wheels 21 on the land, which generally includes an axle, a reducer, a clutch, a differential, and the like; the axle drive can be multi-drive or single drive, the automobile differential mechanism can enable the left and right driving wheels or the front and rear driving wheels to rotate at different rotating speeds, and the function is to enable the left and right wheels 21 to roll at different rotating speeds when the automobile turns or runs on uneven road surfaces, namely to ensure that the driving wheels 21 at two sides do pure rolling motion;
the gear mechanism is rotationally connected with the propeller driving mechanism and is rotationally connected with the wheel driving mechanism through the transmission assembly;
when the amphibious vehicle is laid down with the wheels 21 and landed, the power output of the wheel driving mechanism is transmitted to the gear mechanism through the transmission assembly and transmitted to the propeller driving mechanism through the gear mechanism, so that the power output of the propeller driving mechanism is increased. According to the technical scheme, the principle of mechanical transmission is ingeniously utilized, through the arranged transmission assembly, when the amphibious vehicle lands, the transmission assembly transmits kinetic energy of the vehicle wheel driving mechanism to the gear assembly, the rotating speed of the gear assembly is increased so that mechanical energy transmitted to the propeller driving mechanism by the gear can be increased, the water discharge of the propeller driving mechanism is increased, under the condition of the same-power propeller driving mechanism, the impulse of the amphibious vehicle during landing is increased, the amphibious vehicle is assisted to land or get onto a ship quickly, and the landing time of the amphibious vehicle is saved for at least ten minutes.
The propeller drive mechanism and the wheel drive mechanism act as a transmission assembly to drive the wheels 21 or the propeller simultaneously by means of a torque coupling.
As a specific embodiment provided by the body, the gear mechanism is driven in a flat shaft driving mode, and the flat driving shaft is a rotating body with high rotating speed and less support in the flat shaft driving mode, so that the compactness of each part can be increased, the occupied space can be reduced, and the abrasion among the parts can be reduced.
As a specific embodiment of the body, as shown in fig. 2, the transmission assembly comprises a first gear 41 and a first gear assembly, wherein: the first gear 41 is rotatably connected to the gear mechanism and the first gear assembly, respectively, which is rotatably connected to the wheel drive mechanism. The transmission assembly can be a transmission gear assembly, such as the planetary gear assembly 33 or the sun gear 31, and is easy to design, simple in structure and low in economic cost.
As an embodiment of the body, as shown in fig. 3, the first gear assembly comprises at least two second and third gears 42, 43 meshing with each other, wherein:
the first gear 41 is rotationally connected with the second gear 42, e.g., in a gear mesh manner;
the second gear 42 and/or the third gear 43 are/is rotationally connected with the wheel drive mechanism;
it should be noted that, considering the stability of the transmission assembly in actual use, the transmission assembly is connected with the housing of the transmission, and the first gear 41 and/or the second gear 42 and/or the third gear 43 is connected with the housing of the transmission through a rotating shaft.
As a specific embodiment provided as a body, the engine 5 is further included, as shown in fig. 1 and fig. 2, the gear mechanism is a planetary gear mechanism including a planetary carrier 34, and a planetary gear assembly 33 and a sun gear 31 which are rotatably connected are mounted in the planetary carrier 34; the first gear is rotatably connected to the planetary gear assembly 33, for example, in the prior art, the first gear 41 is engaged with the planetary gear, or the first gear 41 is coaxially connected to the planetary gear assembly 33, or the planetary gear assembly 33 includes the internal gear 32, and the first gear 41 and the internal gear 32 can be integrally configured;
propeller actuating mechanism includes, the drive propeller, the normally-open clutch 11 and the drive propeller of mutual rotation connection, wherein: the normally-open clutch 11 is connected, when the water jet propeller 12 works, the normally-open clutch 11 is closed by external force, and the driving propeller are driven to transmit;
the planetary gear assembly 33 is connected with an output shaft of the driving propeller through the normally-open clutch 11 and the water-jet propeller 12;
the flywheel of the engine 5 is rotationally connected to the carrier 34 via a damper clutch to transmit the power output of the engine 5 to the propeller by rotation.
As a specific embodiment provided as a body, the generator 52 and a storage battery (not labeled in the figure) electrically connected with the generator 52, the storage battery is electrically connected with the wheel driving mechanism, the generator 52 is provided with a brake 521, wherein:
the sun gear 31 is connected with the brake 521, specifically, the sun gear 31 is mounted on a shaft of the generator 52, one end of the shaft of the generator 52 is provided with a brake, when power generation is not needed, the brake 521 brakes, the generator 52 stops rotating, the sun gear 31 is fixed, power of the engine 5 is transmitted to the inner gear 32 through the planet carrier 34, when power generation is needed, the brake 521 stops, the sun gear 31 is driven to do cutting magnetic induction line motion, mechanical energy is converted into electric energy through the generator 52 and stored in the storage battery, and the storage battery can be used as a wheel driving mechanism to provide electric energy.
When the vehicle is driven at high speed on land, the power output by the engine 5 is surplus, and the surplus power can be converted into electric energy by transmitting to the generator 52 and stored, and the stored electricity can provide power for driving the wheels 21.
As a specific embodiment provided as a body, the wheel drive mechanism comprises a rotationally connected normally closed wheel 21 drive clutch, axle reducer, differential and electric motor 23, wherein: the axle reducer, typically the final drive of an amphibious vehicle, the drive of the wheels 21 is preferably a multiple drive,
the motor 23 is electrically connected with a storage battery, the storage battery stores electric energy of the generator 52, the electric energy is converted from extra mechanical energy of the engine 5, waste energy can be recycled and converted for secondary utilization, the overall energy consumption of the amphibious vehicle is reduced, and the sun gear 31 is used for performing partial cutting magnetic induction line motion;
the second gear 42 is connected to the axle reducer through the normally closed wheel drive clutch 22, and outputs power to the wheels 21 through the final drive and the differential. The normally closed wheel drive clutch 22 is of a normally closed type structure and is commonly used in a condition requiring safe braking, i.e., ventilation separation and air-break braking. In a natural state, the brake spring presses the friction plate and the disk of the auxiliary shaft bushing, the brake 521 is in a braking state, after the air passage is switched on, the air cylinder drives the piston frame and the friction plate to move towards the piston side, the friction plate is separated from the disk of the auxiliary shaft bushing, after the brake 521 is in a releasing state and cuts off the air passage, the brake spring presses the friction plate and the disk of the auxiliary shaft bushing, and the brake 521 recovers the braking state;
the third gear 43 is respectively connected with the electric motor 23 and an axle reducer in a rotating way, the mechanical energy of the electric motor 23 is transmitted to the axle reducer through the third gear 43, and the axle reducer outputs the mechanical energy of the electric motor 23 to the wheels 21 through a differential mechanism which is connected with the axle reducer in a rotating way;
when the amphibious vehicle puts down the wheels 21 and lands, the motor 23 drives the third gear 43 to rotate so as to drive the second gear 42 to drive the first gear 41 to rotate, the first gear 41 increases the rotating speed of the planetary gear assembly 33, so that the rotating speed of the output shaft of the driving propeller is increased, the water discharge of the driving propeller is increased, and the landing power of the amphibious vehicle is improved.
It should be noted that the transmission relationship between the motor 23 and the third gear 43 may also be implemented by other connection methods, and the functional and functional components or transmission components of the third gear 43 should fall within the scope of the present embodiment, and the third gear 43 is only one embodiment, and is not the only transmission method that can be implemented.
When the amphibious vehicle runs on the land at a low speed, the motor 23 can drive the third gear 43 to rotate, the output of the third gear 43 is used as the running power of the amphibious vehicle, when the amphibious vehicle runs at a high speed, the engine 5 is used as the main power output and is driven by the planetary mechanism and the transmission assembly to drive the amphibious vehicle to run, the wheels 21 drive the clutch to be disconnected, and the oil-electricity hybrid driving mode not only solves the problem that the landing time of the amphibious vehicle is short, but also can ensure that the amphibious vehicle runs for a longer distance on the land.
The working principle is as follows:
when the amphibious vehicle runs on the land, the pump jet propulsion clutch is disconnected (normally-open clutch 11), the wheels 21 drive the clutch to be closed, and the engine 5, the motor 23 and the generator 52 form an oil-electricity hybrid power system to drive the vehicle. It should be noted that, when the vehicle is at a low speed, the motor 23 may be used as power output, and when the vehicle is at a high speed, the engine 5 and the motor 23 work simultaneously to form a hybrid system, so that the vehicle driving distance may be increased;
after the amphibious vehicle is launched, the wheels 21 are retracted, the normally closed wheel drives the clutch to be disconnected (normally closed clutch), the pump jet propulsion clutch is closed, the engine 5 rotates through the planetary mechanism, and the propeller pushes the amphibious vehicle to advance in water;
when the amphibious vehicle approaches the shore and needs to land or go to a deck, the wheels 21 are put down (the wheels 21 increase the resistance of water, and the power of a propeller needs to be increased), at the moment, the normally closed wheel drive clutch 22 is closed, the mechanical energy of the motor 23 is transmitted to the internal gear 32 component of the gear mechanism through the transmission component, the pump jet propeller and the wheels 21 work simultaneously, when the wheels 21 contact the ground or the deck, the water displacement of the pump jet propeller is increased for a certain time on the original basis, the amphibious vehicle is assisted to land or get on the ship quickly, and the land time is saved by at least ten minutes.
The working principle of the clutch is as follows:
the clutch plays a role in separation and closing, and plays a role in the clutch between the engine and the wheel transmission device. The clutch is stepped, the transmission device of the engine is disconnected with the wheels, and the power of the engine cannot be transmitted to the wheels to drive the automobile;
the clutch is released, the transmission device of the engine is connected with the wheels, the power is transmitted to the wheels, and the vehicle runs.
As an embodiment of the body, the first gear 41 and the second gear 42, and/or the second gear 42 and the third gear 43 are rotatably connected by meshing or chain.
Another aspect provides an amphibious vehicle equipped with a hybrid transmission as described above, partially or wholly. The amphibious vehicle adopts the oil-electricity hybrid power system, and when the amphibious vehicle logins, the propeller can temporarily increase the output power on the basis of the original horsepower, so that the amphibious vehicle can rapidly logins.
The body comprises a shell, and the shell is provided with a transmission assembly through a rotating shaft.
The hybrid power transmission of the amphibious vehicle and the amphibious vehicle thereof provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the invention without departing from the inventive concept, and those improvements and modifications also fall within the scope of the claims of the invention.
Claims (10)
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| CN202011305675.9A CN112407220B (en) | 2020-11-19 | 2020-11-19 | Hybrid power transmission of amphibious vehicle and amphibious vehicle thereof |
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| CN202011305675.9A CN112407220B (en) | 2020-11-19 | 2020-11-19 | Hybrid power transmission of amphibious vehicle and amphibious vehicle thereof |
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| CN113459746A (en) * | 2021-07-13 | 2021-10-01 | 上海崟冠智能科技有限公司 | Vehicle longitudinal swing arm |
| CN114776791A (en) * | 2022-05-13 | 2022-07-22 | 郑州宇通重工有限公司 | A planetary transmission reducer and special equipment |
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