CN113200098A - Special equipment driving system - Google Patents
Special equipment driving system Download PDFInfo
- Publication number
- CN113200098A CN113200098A CN202110501382.6A CN202110501382A CN113200098A CN 113200098 A CN113200098 A CN 113200098A CN 202110501382 A CN202110501382 A CN 202110501382A CN 113200098 A CN113200098 A CN 113200098A
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- China
- Prior art keywords
- hydraulic
- drive
- leg
- wheel
- foot
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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
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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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
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
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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
- B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel
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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
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
Abstract
The invention relates to a special equipment driving system. The method specifically comprises the following steps: the hydraulic control system comprises a power module, a rear hydraulic driving system and a control system; the rear hydraulic drive system includes: the hydraulic control system comprises a rear-drive hydraulic pump, a rear-drive hydraulic motor, a leg-foot hydraulic execution component and a rear-drive hydraulic oil way; the rear-drive hydraulic oil circuit comprises a leg-foot hydraulic oil circuit and a rear wheel hydraulic oil circuit; the leg-foot hydraulic oil circuit and the rear wheel hydraulic oil circuit are respectively provided with a switch module, and the leg-foot hydraulic oil circuit is connected with the rear wheel hydraulic oil circuit at the downstream of the switch module and can supply energy to the rear wheel hydraulic oil circuit in a one-way manner; when the rear wheel drives, the rear-drive hydraulic pump directly drives the rear-drive hydraulic motor to output torque through a rear-wheel hydraulic oil way so as to drive the rear wheel to rotate; when the wheel legs are driven in a combined mode, the rear wheel hydraulic oil circuit is cut off, and the rear drive hydraulic pump supplies energy to the rear wheels and the leg foot hydraulic actuating components simultaneously through the leg foot hydraulic oil circuit. The special equipment driving system provided by the invention has the advantages that the bearing capacity of the equipment is stronger, and the adaptive use requirements are more and wider.
Description
Technical Field
The invention relates to a special equipment driving system.
Background
With the continuous development of equipment manufacturing technology, new equipment capable of adapting to more use environments and use occasions is continuously provided. The wheel-leg combined robot disclosed in chinese patent application publication No. CN112590964A includes two pairs of four driving wheels at two sides of a main body, and six leg-foot mechanisms at the left and right sides and front and rear ends of the main body, and can implement a wheel mode, a leg mode, and an obstacle crossing mode by the mutual cooperation of wheel legs. However, the wheel-leg composite equipment is driven by electricity, so that the bearing capacity is poor, and the use performance is poor in severe environments such as low temperature in some highlands and severe mountains.
Disclosure of Invention
The invention aims to provide a special equipment driving system which is used for solving the problem that the existing wheel-leg composite equipment is poor in driving performance.
The special equipment drive system of the present invention comprises:
the hydraulic control system comprises a power module, a rear hydraulic driving system and a control system connected with the power module and the rear hydraulic driving system;
the rear hydraulic drive system includes:
the hydraulic control system comprises a rear-drive hydraulic pump, a rear-drive hydraulic motor, a leg-foot hydraulic execution component and a rear-drive hydraulic oil way;
the rear-drive hydraulic oil circuit comprises a leg-foot hydraulic oil circuit connected with a rear-drive hydraulic pump and a leg-foot hydraulic execution component, and a rear-wheel hydraulic oil circuit connected with the rear-drive hydraulic pump and a rear-drive hydraulic motor, wherein the leg-foot hydraulic execution component is used for driving a leg-foot mechanism to move, and the rear-drive hydraulic motor is used for being in transmission connection with a rear wheel;
the leg-foot hydraulic oil circuit and the rear wheel hydraulic oil circuit are respectively provided with a switch module, and the leg-foot hydraulic oil circuit is connected with the rear wheel hydraulic oil circuit at the downstream of the switch module and can supply energy to the rear wheel hydraulic oil circuit in a one-way manner;
when the rear wheel drives, the rear-drive hydraulic pump directly drives the rear-drive hydraulic motor to output torque through a rear-wheel hydraulic oil way so as to drive the rear wheel to rotate;
when the wheel legs are driven in a combined mode, the rear wheel hydraulic oil circuit is cut off, and the rear drive hydraulic pump supplies energy to the rear wheels and the leg foot hydraulic actuating components simultaneously through the leg foot hydraulic oil circuit.
The special equipment driving system drives the rear wheels and the leg and foot mechanisms through the hydraulic system, so that the equipment is higher in bearing capacity and higher in applicability to severe environments such as high altitude, low temperature, dangerous mountain land and the like, and the driving system can respectively realize a mode of independent rear wheel driving and a mode of composite driving of the rear wheels and the leg and foot mechanisms, and can meet more and wider use requirements.
Furthermore, the switch module is a switch valve connected in series on the corresponding oil way, the switch valve is simple in structure, high in integration level and convenient to control, and light weight and integration of equipment are facilitated.
Furthermore, a constant pressure module is arranged on the leg and foot hydraulic oil circuit, and the leg and foot hydraulic oil circuit is connected with the rear wheel hydraulic oil circuit through the constant pressure module. Therefore, when the wheel legs are driven in a composite mode, high-pressure oil can be supplied to the rear wheel and the leg-foot mechanism through the constant-pressure module, and stable and reliable power output of the rear wheel and the leg-foot mechanism is guaranteed.
Furthermore, a proportional valve is arranged between the constant pressure module and the rear wheel hydraulic oil circuit, and when the wheel legs are driven in a combined mode, the rear-drive hydraulic motor is controlled through the proportional valve. The rear-drive hydraulic motor is controlled by the proportional valve, so that the power output of the rear wheel and the leg and foot mechanism can be coordinately controlled, and the control is more flexible and convenient.
Preferably, the rear drive hydraulic motor is in transmission connection with the rear drive axle and drives the rear wheel to rotate through the rear drive axle. Through the concentrated output torque of rear drive axle, the cooperation output of two rear wheels of realization that can be convenient, such transmission configuration simple structure has reduced the complexity of equipping the structure moreover, can provide reliable stable drive power for equipping when good road surface is gone.
In addition, the special equipment driving system further comprises a front wheel driving system, and the front wheel driving system is connected with the control system and can be matched with the hydraulic driving system to realize synchronous driving. Through setting up the front wheel actuating system, can make equipment realize two drive and four-wheel drive's drive mode, improve the driving ability of equipment, adapt to more terrain environment.
Preferably, the front wheel driving system is a front hydraulic driving system, so that the front wheel driving system and the rear hydraulic driving system can share some hydraulic components while ensuring stronger bearing capacity and adaptability, and the complexity of the equipment structure is reduced.
Preferably, the front hydraulic drive system includes a front drive hydraulic pump, a front drive hydraulic motor, and a front drive hydraulic oil passage connecting the front drive hydraulic pump and the front drive hydraulic motor, and the front drive hydraulic motor is a wheel-side motor. The front wheel is driven by a distributed hydraulic motor, can participate in working under the working conditions of cross country and climbing, and is used for improving the passing capacity of the platform.
Furthermore, the rear-drive hydraulic pump is preferably a closed pump, which is more favorable for weight-saving optimization of the equipment.
Drawings
FIG. 1 is a hydraulic control schematic diagram of a first embodiment of a special equipment drive system of the present invention;
FIG. 2 is a partial hydraulic schematic of a first embodiment of the special equipment drive system of the present invention;
fig. 3 is a schematic drive diagram of a rear hydraulic drive system in a first embodiment of the special equipment drive system of the present invention.
In the figure: 21. a front-drive hydraulic pump; 22. a rear drive hydraulic pump; 30. a first on-off valve; 31. a second on-off valve; 4. a proportional valve; 51. a rear drive hydraulic motor; 52. a front-drive hydraulic motor; 6. a rear drive axle; 70. a front wheel; 71. a rear wheel; 8. and a constant pressure module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the 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 of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
The first embodiment of the special equipment driving system of the invention:
the special equipment driving system is mainly applied to wheel-leg composite equipment, namely engineering equipment which comprises driving wheels and a leg-foot mechanism.
The engineering equipment mainly applied to the special equipment driving system comprises a vehicle body, wherein a pair of front wheels and a pair of rear wheels are respectively arranged at the front end and the rear end of the vehicle body, and three leg mechanisms are respectively arranged at the left side and the right side of the vehicle body at intervals in the length direction of the vehicle body, namely the four-wheel six-leg wheel-leg composite equipment is formed. When the composite equipment is used, the leg and foot mechanisms can be folded and retracted to enable the wheels to contact the ground, the composite equipment is used in a mode similar to a traditional vehicle, the leg and foot mechanisms can be stretched out to the ground and output and drive together with the wheels, the composite driving mode is a wheel and leg driving mode, of course, under some use requirements, the leg and foot mechanisms can be stretched out to the ground, the wheels are lifted and locked through the oil and gas springs, interference on the motion of the leg and foot mechanisms is avoided, and the equipment is driven to walk through the leg and foot mechanisms.
The special equipment driving system mainly supplies energy to the wheels and the leg and foot mechanisms so as to realize the walking of the whole equipment under different modes.
Specifically, as shown in fig. 1-3, the special equipment driving system in this embodiment includes a power module, a rear hydraulic driving system, a front wheel driving system, and a control system. The control system is connected with the first three, and can control and adjust the first three. In this embodiment, the power module is an engine, and the engine is used as an original power source and can provide energy, such as electric energy, hydraulic energy, mechanical energy and the like, for other energy-requiring components. The rear hydraulic drive system is used to drive the rear wheels 71 and the leg and foot mechanism, and the front wheel drive system is used to drive the front wheels 70.
The rear hydraulic drive system comprises a rear drive hydraulic pump 22, a rear drive hydraulic motor 51, a leg foot hydraulic actuator and a rear drive hydraulic oil path. The rear-drive hydraulic oil path comprises a leg-foot hydraulic oil path for connecting the rear-drive hydraulic pump 22 and a leg-foot hydraulic actuating component and a rear-wheel hydraulic oil path for connecting the rear-drive hydraulic pump 22 and the rear-drive hydraulic motor 51, the leg-foot hydraulic actuating component is used for driving a leg-foot mechanism to act, and the rear-drive hydraulic motor 51 is used for being in transmission connection with a rear wheel 71; the rear wheel hydraulic oil circuit and the leg and foot hydraulic oil circuit are respectively provided with a switch valve, the two switch valves are respectively called as a first switch valve 30 and a second switch valve 31, the leg and foot hydraulic oil circuit is also provided with a constant pressure module 8 at the downstream of the switch valves, the constant pressure module 8 is connected with a leg and foot hydraulic execution component on the one hand, and the other hand is conveniently connected to the rear wheel hydraulic oil circuit through a proportional valve 4 and can supply energy to the rear wheel hydraulic oil circuit in a one-way mode. Thus, by controlling the states of the two on-off valves, when the rear wheel 71 is driven, the rear drive hydraulic pump 22 directly drives the rear drive hydraulic motor 51 to output torque through the rear wheel hydraulic oil path, and further drives the rear wheel 71 to rotate; in the wheel-leg combined drive, the rear wheel hydraulic oil passage is cut off, and the rear drive hydraulic pump 22 simultaneously supplies power to the rear wheel 71 and the leg hydraulic actuator through the leg hydraulic oil passage, and the rear drive hydraulic motor is mainly controlled by the proportional valve 4.
In this embodiment, the rear-drive hydraulic pump 22 of the rear hydraulic drive system is preferably a closed-type pump and is driven by the engine to work, which is more favorable for realizing weight reduction optimization of the equipment. The rear-drive hydraulic motor 51 is connected to the rear drive axle 6 in a transmission manner and is transmitted to the rear wheels 71 through the rear drive axle 6 in a mechanical transmission manner, and the central hydraulic motor is matched with an axle motor driving scheme of the mechanical axle to provide reliable and stable driving force for equipment when the equipment runs on a good road surface.
The front wheel driving system is also a hydraulic system, called a front hydraulic driving system, and includes a front drive hydraulic pump 21, a front drive hydraulic motor 52 and a front drive hydraulic oil circuit connecting the two, wherein the front drive hydraulic pump 21 is also a closed pump and is driven by an engine to work, the front drive hydraulic motor 52 is a wheel-side motor and is configured inside the front wheel 70, and the output torque is directly transmitted to the front wheel 70.
The leg and foot mechanism and the rear wheel of the special equipment driving system of the embodiment share one closed pump for energy supply, and form a closed hydraulic system respectively, and under the regulation control of the control system, the leg and foot mechanism and the rear wheel cooperate with the front wheel driving system to realize the following driving modes:
first, the rear-drive hydraulic pump directly drives the rear-drive hydraulic motor, and transmits torque to the rear wheels through the rear drive axle, which is a two-wheel drive mode of the rear wheels 71;
secondly, the rear-drive hydraulic pump supplies oil to the constant-pressure module, the constant-pressure module supplies energy to the rear-drive hydraulic motor and the leg-foot mechanism respectively, and the rear wheels and the leg-foot mechanism are driven in a composite mode, namely a two-wheel-drive and leg-foot composite driving mode;
thirdly, the rear-drive hydraulic pump directly drives the rear-drive hydraulic motor, torque is transmitted to the rear wheel through a rear drive axle, the front-drive hydraulic pump supplies oil to the front-drive pressure motor and drives the front wheel to rotate, and the four-wheel drive mode is adopted;
and fourthly, the rear-drive hydraulic pump supplies oil to the constant-pressure module, the constant-pressure module supplies energy to the rear-drive hydraulic motor and the leg-foot mechanism respectively, the rear wheel and the leg-foot mechanism are driven in a composite mode, and meanwhile, the front-drive hydraulic pump supplies oil to the front-drive pressure night motor and drives the front wheel to rotate, so that the four-wheel-leg composite driving mode is realized.
The driving modes can be switched according to actual use requirements. When walking on the flat ground, a two-wheel drive mode, a front wheel follow-up steering mode or a four-wheel drive mode can be adopted; under special working conditions such as climbing or obstacle crossing, the second or fourth driving mode can be adopted according to actual conditions. The driving modes are mutually matched, and the front wheel, the rear wheel and the leg and foot mechanisms are mutually cooperated, so that the walking capability of the equipment is greatly improved.
The special equipment drive system of the present invention is not limited to the above-described embodiments, and several other modified embodiments based on the design concept of the present invention are provided below.
For example, in other embodiments, unlike the embodiments described above, both the forward-drive hydraulic pump and the backward-drive hydraulic pump can be open pumps, so as to reduce the equipment cost; when the wheel legs are driven compositely, the constant pressure module can be matched with other electric control valves to realize the control of the rear-drive hydraulic motor, so that the control of the output of the rear wheel is realized; the rear-drive hydraulic motor can also be a wheel-side motor and directly drives the rear wheel to rotate, or the front-drive hydraulic motor can also transmit torque to the front wheel through a front drive axle; the front wheel driving system may also be a mechanical transmission driving system, for example, a torque is directly obtained from an output end of the engine, or the front wheel driving system is an electric driving system, that is, the front drive hydraulic motor is replaced by an electric motor, an output end of the engine is connected with a generator, and the generator converts part of mechanical energy into electric energy and then supplies the electric energy to the electric motor to drive the front wheel to rotate.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (9)
1. A special equipment drive system, comprising:
the hydraulic control system comprises a power module, a rear hydraulic driving system and a control system connected with the power module and the rear hydraulic driving system;
the rear hydraulic drive system includes:
the hydraulic control system comprises a rear-drive hydraulic pump (22), a rear-drive hydraulic motor (51), a leg and foot hydraulic execution component and a rear-drive hydraulic oil way;
the rear-drive hydraulic oil path comprises a leg and foot hydraulic oil path connected with a rear-drive hydraulic pump (22) and a leg and foot hydraulic execution component and a rear wheel hydraulic oil path connected with the rear-drive hydraulic pump (22) and a rear-drive hydraulic motor (51), the leg and foot hydraulic execution component is used for driving a leg and foot mechanism to act, and the rear-drive hydraulic motor (51) is used for being in transmission connection with a rear wheel (71);
the leg-foot hydraulic oil circuit and the rear wheel hydraulic oil circuit are respectively provided with a switch module, and the leg-foot hydraulic oil circuit is connected with the rear wheel hydraulic oil circuit at the downstream of the switch module and can supply energy to the rear wheel hydraulic oil circuit in a one-way manner;
when the rear wheel (71) is driven, the rear drive hydraulic pump (22) directly drives the rear drive hydraulic motor (51) to output torque through a rear wheel hydraulic oil way, and then drives the rear wheel (71) to rotate;
when the wheel legs are driven in a combined mode, the rear wheel hydraulic oil path is cut off, and the rear drive hydraulic pump (22) supplies energy to the rear wheel (71) and the leg foot hydraulic actuating component simultaneously through the leg foot hydraulic oil path.
2. A special equipment drive system according to claim 1, wherein the switch module is a switch valve connected in series to a corresponding oil line.
3. A special equipment driving system according to claim 1, wherein a constant pressure module (8) is arranged on the leg and foot hydraulic circuit, and the leg and foot hydraulic circuit is connected with the rear wheel hydraulic circuit through the constant pressure module (8).
4. A special equipment driving system according to claim 3, characterized in that a proportional valve (4) is arranged between the constant pressure module (8) and the rear wheel hydraulic circuit, and that the rear drive hydraulic motor (51) is controlled by the proportional valve (4) during combined wheel leg drive.
5. A special equipment drive system according to claim 1, wherein the rear drive hydraulic motor (51) is drivingly connected to the rear drive axle (6) and rotates the rear wheel (71) via the rear drive axle (6).
6. A special equipment drive system according to any one of claims 1-5, wherein the special equipment drive system further comprises a front wheel drive system, the front wheel drive system being connected to the control system and being capable of synchronous drive in cooperation with the hydraulic drive system.
7. A specialty equipment drive system as claimed in claim 6 wherein said front wheel drive system is a front hydraulic drive system.
8. A special equipment drive system according to claim 7, wherein the front hydraulic drive system comprises a front drive hydraulic pump (21), a front drive hydraulic motor (52) and a front drive hydraulic circuit connecting the two, the front drive hydraulic motor (52) being a wheel-side motor.
9. A specialty equipment drive system according to any of claims 1-5, wherein the rear drive hydraulic pump (22) is a closed pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110501382.6A CN113200098B (en) | 2021-05-08 | 2021-05-08 | Special equipment driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110501382.6A CN113200098B (en) | 2021-05-08 | 2021-05-08 | Special equipment driving system |
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| Publication Number | Publication Date |
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| CN113200098A true CN113200098A (en) | 2021-08-03 |
| CN113200098B CN113200098B (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110501382.6A Active CN113200098B (en) | 2021-05-08 | 2021-05-08 | Special equipment driving system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8428319D0 (en) * | 1983-11-11 | 1984-12-19 | Mitsubishi Motors Corp | Power transmission apparatus |
| GB9019836D0 (en) * | 1989-09-18 | 1990-10-24 | Kubota Kk | Vehicle propelling apparatus |
| EP1136288A2 (en) * | 2000-03-24 | 2001-09-26 | Nikken Corporation | Rail-road vehicle |
| CN207589549U (en) * | 2017-11-15 | 2018-07-10 | 天津拖拉机制造有限公司 | A kind of maize harvesting machine four-wheel hydraulic driving device |
| CN112590964A (en) * | 2020-12-15 | 2021-04-02 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
-
2021
- 2021-05-08 CN CN202110501382.6A patent/CN113200098B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8428319D0 (en) * | 1983-11-11 | 1984-12-19 | Mitsubishi Motors Corp | Power transmission apparatus |
| GB9019836D0 (en) * | 1989-09-18 | 1990-10-24 | Kubota Kk | Vehicle propelling apparatus |
| EP1136288A2 (en) * | 2000-03-24 | 2001-09-26 | Nikken Corporation | Rail-road vehicle |
| CN207589549U (en) * | 2017-11-15 | 2018-07-10 | 天津拖拉机制造有限公司 | A kind of maize harvesting machine four-wheel hydraulic driving device |
| CN112590964A (en) * | 2020-12-15 | 2021-04-02 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN113200098B (en) | 2022-03-15 |
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