CN113665846A - Rocker mechanism suitable for deep space inspection device moving - Google Patents
Rocker mechanism suitable for deep space inspection device moving Download PDFInfo
- Publication number
- CN113665846A CN113665846A CN202111013990.9A CN202111013990A CN113665846A CN 113665846 A CN113665846 A CN 113665846A CN 202111013990 A CN202111013990 A CN 202111013990A CN 113665846 A CN113665846 A CN 113665846A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- arm body
- interface
- steering
- driving shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
Abstract
The invention discloses a rocker arm mechanism suitable for moving a deep-space inspection device, which is arranged on an inspection device vehicle body and comprises a first rocker arm body, a second rocker arm body and a third rocker arm body, wherein the first rocker arm body, the second rocker arm body and the third rocker arm body are all integrally formed hollow square rod-shaped structures, a first driving shaft interface used for connecting the inspection device vehicle body is arranged on the side surface of one end of the first rocker arm body, a first steering interface used for connecting a steering wheel assembly is arranged at the top of the other end of the first rocker arm body, and the first driving shaft interface is vertical to the axis of the first steering interface; the second flange interfaces are arranged at the two ends of the second rocker arm body, the third driving shaft interface is arranged in the middle of the third rocker arm body, the third steering interfaces are arranged at the two ends of the third rocker arm body, the third driving shaft interface is axially vertical to the third steering interface, the second flange interfaces at the two ends of the second rocker arm body are coaxially connected with the first driving shaft interface and the third driving shaft interface respectively, and the third steering interface is connected with a steering wheel assembly of the inspection tour device vehicle body.
Description
Technical Field
The invention relates to the technical field of connection and transmission of components of a deep space inspection device moving system, in particular to a rocker mechanism suitable for deep space inspection device movement.
Background
According to the specific task requirement of the deep space patrol instrument, the deep space patrol instrument moving system generally needs to provide maneuvering capabilities for providing off-road, obstacle avoidance and the like for the patrol instrument, and corresponding capabilities are used for adapting to the terrain with various and different textures of pit blocks of detected planets or satellites. The corresponding rocker arm structure that provides the interface and load for the mobile system needs to accommodate the high and low temperature extremes of the planet or satellite being probed. Patrol mobile systems that perform deep space tasks also have the need for extreme light weight.
The rocker arm structure of the existing domestic and foreign inspection tour device such as a mobile system of 'curio number' and the like is generally a metal or composite arm rod, a metal joint is assembled and molded, the rocker arm structure can greatly increase the weight due to the limitation of the metal component, the assembly link and the configuration of the joint, and meanwhile, the assembly link between the metal structure and the composite rod has the defects of poor precision realization manufacturability, unreliable bonding, poor heat matching performance of different materials and the like. In conclusion, a reasonable rocker arm structure is needed to meet the requirements of the current deep-space inspection device in China on light weight, high rigidity, large bearing, high precision and large temperature difference adaptation of a moving mechanism.
Therefore, the problem to be solved by those skilled in the art is how to provide a rocker arm mechanism suitable for deep space rover movement, which has the advantages of light weight, high rigidity, large load bearing, high precision and large temperature difference adaptation.
Disclosure of Invention
In view of the above, the invention provides a rocker mechanism suitable for movement of a deep space patrol instrument, which has a simple structure and strong reliability.
In order to achieve the purpose, the invention adopts the following technical scheme: a rocker arm mechanism suitable for a deep space inspection device to move is installed on an inspection device vehicle body and comprises a first rocker arm body, a second rocker arm body and a third rocker arm body, wherein the first rocker arm body, the second rocker arm body and the third rocker arm body are in groups in pairs and are respectively connected to two sides of the inspection device vehicle body; the second flange interface is all seted up at the both ends of second rocking arm body, the third driving shaft interface is seted up at the middle part of third rocking arm body, and the third interface that turns to is all seted up at both ends, the third driving shaft interface turns to the axial vertical of interface with the third, the second flange interface at second rocking arm body both ends respectively with first driving shaft interface and third driving shaft interface coaxial coupling, the third turns to the interface and is connected with the directive wheel subassembly of tour ware automobile body.
The invention has the beneficial effects that: the first rocker arm body, the second rocker arm body and the third rocker arm body are designed into an integrally formed hollow square rod structure according to requirements, the weight of the rocker arms can be reduced, a containing space can be provided for installation of a motor wire assembly and a mobile system, the integral structure of the first rocker arm body, the second rocker arm body and the third rocker arm body is designed into an integral structure, and all interfaces are provided by two ends of a rod piece or the wall surface of a middle rod piece; the third driving shaft interface is vertical to the third steering interface in the axial direction, the flexibility of arm rod bearing installation and steering wheel assembly installation is adapted, the connection links are reduced to the maximum extent by the integrated structure of the rocker arm body, the structure weight is reduced, and meanwhile, the problems of deformation and thermal stress caused by unmatched thermal expansion coefficients due to extreme temperature difference between components are solved.
Preferably, the wall thickness of the first rocker arm body is gradually reduced towards the first steering interface corresponding to the first driving shaft interface. The wall thickness of the third rocker arm body is gradually reduced from the middle to the two ends.
Preferably, one end of the first steering interface on the first rocker arm body is bent outwards by a certain angle relative to the patrol device vehicle body so as to meet the space envelope requirement of the steering wheel assembly.
Preferably, both ends of the first rocker arm body are provided with flange reinforcing parts which are convenient for punching and forming the first driving shaft interface and the first steering interface; both ends of the second rocker arm body are provided with flange reinforcing parts convenient for the second flange connector to be arranged; and the middle part and two ends of the third rocker arm body are respectively provided with a flange reinforcing part which is convenient for the third driving shaft connector and the third steering connector to be arranged.
Preferably, the first steering interface and the third steering interface can be provided with steering flanges, steering motors are arranged in the steering flanges, and output shafts of the steering motors are connected with the crankshafts of the wheel assemblies to drive the wheels to steer.
Preferably, the first rocker arm body, the second rocker arm body and the third rocker arm body are all molded by carbon fiber composite materials according to a preset layering mode, and the layering mode is [ + -45/03 ] n [ + -45/03/+ -45/03/+ -45/].
Drawings
FIG. 1 is an assembly view of a rocker mechanism suitable for deep space rover movement in accordance with the present invention;
fig. 2 is a structural diagram of a rocker arm mechanism suitable for moving a deep space rover according to the present invention.
The device comprises a first rocker arm body 1, a second rocker arm body 2, a third rocker arm body 3, a patrol vehicle body 4, a first driving shaft connector 5, a first steering connector 6, a third driving shaft connector 7, a third steering connector 8 and a steering wheel assembly 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 2 of the drawings, a rocker arm mechanism for deep space rover movement according to an embodiment of the present invention is mounted on a rover body 4, which comprises a first rocker arm body 1, a second rocker arm body 2 and a third rocker arm body 3, wherein the first rocker arm body 1, the second rocker arm body 2 and the third rocker arm body 3 are grouped in pairs and are respectively connected with two sides of a tour device vehicle body 4, the first rocker arm body 1, the second rocker arm body 2 and the third rocker arm body 3 are all of hollow square rod-shaped structures which are integrally formed, the inner space of the rocker arm is used for accommodating a moving system and a motor wire assembly, a first driving shaft interface 5 used for connecting a patrol device vehicle body is arranged on the side face of one end of a first rocker arm body 1, a first steering interface 6 used for connecting a steering wheel assembly 9 is arranged on the top of the other end of the first rocker arm body, and the first driving shaft interface 5 is vertical to the axis of the first steering interface 6; the second flange interfaces are arranged at the two ends of the second rocker arm body 2, the third driving shaft interface 7 is arranged in the middle of the third rocker arm body 3, the third steering interface 8 is arranged at the two ends of the third rocker arm body, the third driving shaft interface 7 is axially vertical to the third steering interface 8, the second flange interfaces at the two ends of the second rocker arm body 2 are respectively coaxially connected with the first driving shaft interface and the third driving shaft interface, and the third steering interface 8 is connected with a steering wheel assembly 9 of the inspection vehicle body.
In some embodiments, the wall thickness dimension of the first rocker arm body 1 tapers in a direction toward the first steering interface corresponding to the first driveshaft interface. The wall thickness size of the third rocker arm body 3 is gradually reduced from the middle to the two ends, the size change of the thickness is designed according to the required strength of the structure, the material consumption is reduced on the premise of ensuring the stable use of the structure, and the resources are saved.
In other embodiments, one end of the first steering interface on the first rocker arm body 1 is bent outwards by a certain angle relative to the patrol device vehicle body so as to adapt to the space envelope requirement of the steering wheel assembly, and the mounting space of the steering wheel assembly is reserved by bending by a certain angle, so that the cross-country trafficability of the whole mobile system is optimized.
In other embodiments, both ends of the first rocker arm body 1 are provided with flange reinforcing parts which facilitate punching of the first driving shaft interface and the first steering interface; both ends of the second rocker arm body 2 are provided with flange reinforcing parts convenient for the opening of a second flange connector; the middle part and both ends of the third rocker arm body 3 are provided with flange reinforcing parts which are convenient for the third driving shaft interface and the third steering interface to be arranged, the flange reinforcing parts are convenient for arranging the interfaces at preset positions, the structural strength requirement of the interfaces is guaranteed, and the service life of the rocker arm mechanism is prolonged.
Specifically, the interface is a hole with the diameter of about 100mm, the size of the hole is actually determined according to the size of the motor interface, and the hole is actually a channel for facilitating the entering and operation of the core mold cleaning tool.
In other embodiments, a steering flange may be installed at each of the first steering interface 6 and the third steering interface 8, a steering motor is installed in the steering flange, and an output shaft of the steering motor is connected to a crankshaft of the wheel assembly to drive the wheel to steer. During transmission, the motor rotating shaft is fixedly connected with a gear or a flat shaft, and high-precision meshing transmission is performed through the gear or the flat shaft sleeve fixedly connected with the rocker arm.
Specifically, the gasket is allowed to be locally adhered to ensure the accurate distance between two wall surfaces, so that the driving motor is conveniently positioned and installed on two sides, and the steel wire thread sleeve is adhered to the part of the flange to ensure the reliable connection of local screws.
The two side walls of the rocker arm body are provided with the installation liners and the local liner carbon fiber shaft sleeves, the local liner carbon fiber shaft sleeves are fixed through bolts, the assembly precision of the local liner carbon fiber shaft sleeves is improved, particularly, in order to ensure the reliable bearing, the local liner carbon fiber shaft sleeves transmit unidirectional load to bearing of rocker arms and double flanges, and the high-precision transmission connection of an arm rod interface is ensured while the local strength of an arm rod is improved through locally pasting a metal gear or a flat shaft sleeve; a high-precision interface is provided for a corner sensor of a mobile system by sticking a local flat pad.
In other embodiments, the first rocker arm body 1, the second rocker arm body 2 and the third rocker arm body 3 are all molded from carbon fiber composite material in a predetermined lay-up pattern of [ ± 45/03] n [ ± 45/03/± 45/03/± 45/]. Not only ensures 0-degree layer as much as possible, ensures the performance of the rocker arm body, but also ensures the thickness variability of the layering form, and simultaneously also ensures that the wall thickness is always symmetrical inside and outside in various thickness-variable layering, thereby reducing the process forming deformation and ensuring the high precision of the wall rod forming.
Specifically, n represents the repetition times of the left bracketed ply, the left bracketed ply and the n rear bracketed ply form the whole wall thickness together, the wall thickness variation in the length direction of the rocker arm is realized by changing n, and the whole ply can ensure that the inner and outer plies of the wall thickness are symmetrical to a neutral surface of the wall thickness, for example [ + -45/03 ]1[ + -45/03/+ -45/03/+ -45/] is symmetrical from left to right, namely from inside to outside about the neutral surface. And no matter how much n is, the integral laying layer can ensure that the inner and outer laying layers of the wall thickness are symmetrical to the neutral plane of the wall thickness, thereby greatly reducing the torsional deformation of the rocker arm caused by the angle of the fiber in the process.
Compared with the prior art, the invention has the following beneficial effects:
the rocker arm structure comprehensively adopts the means of light weight material selection, integrated molding, variable cross section, variable wall thickness and the like, thereby greatly reducing the structural weight; the large bending moment load bearing in each space direction brought by inspection load is realized by integrally forming a closed thin-wall rod piece; the bearing capacity of the maximum breaking load of 715.65N.m/0.474kg is realized.
The rocker arm structure uses high-modulus carbon fibers, so that high rigidity of the rocker arm structure in working in a narrow vehicle body envelope space is provided, and the working process of a mobile system is ensured not to interfere with other components with small gaps;
the rocker arm structure adopts an integrated structure, and uses carbon fiber in a large area, so that thermal stress generated between components under the condition of large temperature difference is avoided; the rocker arm structure is only pasted by small-size metal gaskets and flanges at local interfaces, high precision of the arm rod interfaces is provided, and connecting gaps for transferring driving loads or wheel loads are greatly reduced.
For the device and the using method disclosed by the embodiment, the description is simple because the device and the using method correspond to the method disclosed by the embodiment, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A rocker arm mechanism suitable for a deep space inspection device to move is installed on an inspection device vehicle body (4) and is characterized by comprising a first rocker arm body (1), a second rocker arm body (2) and a third rocker arm body (3), wherein the first rocker arm body (1), the second rocker arm body (2) and the third rocker arm body (3) are in groups in pairs and are respectively connected to two sides of the inspection device vehicle body (4), the first rocker arm body (1), the second rocker arm body (2) and the third rocker arm body (3) are integrally formed hollow square rod structures, the inner space of the hollow square rod structures is used for arranging a moving system and a motor wire assembly, a first driving shaft interface (5) used for connecting the inspection device vehicle body is arranged on one end side face of the first rocker arm body (1), a first steering interface (6) used for connecting a steering wheel assembly (9) is arranged on the top of the other end, the first driving shaft interface (5) is vertical to the axis of the first steering interface (6); the second flange interface is all seted up at the both ends of second rocking arm body (2), third driving shaft interface (7) are seted up at the middle part of third rocking arm body (3), and the third turns to interface (8) all to be seted up at both ends, third driving shaft interface (7) turn to the axial vertical of interface (8) with the third, the second flange interface at second rocking arm body (2) both ends respectively with first driving shaft interface and third driving shaft interface coaxial coupling, third turns to interface (8) and tours steering wheel subassembly (9) of ware automobile body and is connected.
2. The rocker arm mechanism suitable for the movement of the deep space patrol instrument as recited in claim 1, wherein the wall thickness of the first rocker arm body (1) is gradually reduced towards the first steering interface corresponding to the first driving shaft interface, and the wall thickness of the third rocker arm body (3) is gradually reduced from the middle to two ends.
3. The rocker arm mechanism suitable for the deep space patrol instrument to move according to claim 1, wherein one end of the first steering interface on the first rocker arm body (1) is bent outwards at a certain angle relative to a patrol instrument vehicle body so as to meet the space envelope requirement of a steering wheel assembly.
4. The rocker arm mechanism suitable for the deep space patrol instrument to move according to claim 1, wherein both ends of the first rocker arm body (1) are provided with flange reinforcing parts which facilitate punching of the first driving shaft interface and the first steering interface; both ends of the second rocker arm body (2) are provided with flange reinforcing parts convenient for the second flange connector to be arranged; and the middle part and two ends of the third rocker arm body (3) are respectively provided with a flange reinforcing part which is convenient for the third driving shaft connector and the third steering connector to be arranged.
5. The rocker arm mechanism suitable for the deep space patrol instrument to move according to claim 1, wherein steering flanges can be installed at the first steering interface (6) and the third steering interface (8), a steering motor is installed in the steering flanges, and an output shaft of the steering motor is connected with a crankshaft of a wheel assembly to drive the wheel to steer.
6. The rocker arm mechanism suitable for the movement of a deep space patrol instrument as recited in claim 1, wherein the first rocker arm body (1), the second rocker arm body (2) and the third rocker arm body (3) are all molded by carbon fiber composite materials according to a predetermined layering mode, and the layering mode is [ ± 45/03] n [ ± 45/03/± 45/03/± 45/].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111013990.9A CN113665846A (en) | 2021-08-31 | 2021-08-31 | Rocker mechanism suitable for deep space inspection device moving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111013990.9A CN113665846A (en) | 2021-08-31 | 2021-08-31 | Rocker mechanism suitable for deep space inspection device moving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113665846A true CN113665846A (en) | 2021-11-19 |
Family
ID=78547723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111013990.9A Pending CN113665846A (en) | 2021-08-31 | 2021-08-31 | Rocker mechanism suitable for deep space inspection device moving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113665846A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE659263C (en) * | 1936-02-16 | 1938-04-29 | Kadner & Co Saechsische Patent | Bearings for vehicle axles |
| GB2063187A (en) * | 1979-10-30 | 1981-06-03 | Jungheinrich Kg | Resiliently mounted supporting roller for conveying vehicles |
| JPH08310462A (en) * | 1995-05-22 | 1996-11-26 | Nissan Motor Co Ltd | Travel car for space search |
| US20050206101A1 (en) * | 2002-09-17 | 2005-09-22 | Bouton Todd R | Four wheel drive stationary body vehicle having controlled wheel and passenger compartment lateral lean with independent steering |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN106314111A (en) * | 2016-09-29 | 2017-01-11 | 北京理工大学 | Differential-steering unmanned motor vehicle |
| CN209382135U (en) * | 2018-11-14 | 2019-09-13 | 山东科技大学 | One kind six takes turns adaptive cross-country trolley |
| CN110709314A (en) * | 2017-07-04 | 2020-01-17 | 投津欧陆股份有限公司 | Rocker arm bogie mechanism and walking device |
| CN111824457A (en) * | 2020-07-22 | 2020-10-27 | 曹宇婷 | Independent driving steering system of six-wheel rocker arm unmanned lunar vehicle and design method |
| CN112829966A (en) * | 2021-02-07 | 2021-05-25 | 上海埃依斯航天科技有限公司 | Multipurpose mobile device |
-
2021
- 2021-08-31 CN CN202111013990.9A patent/CN113665846A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE659263C (en) * | 1936-02-16 | 1938-04-29 | Kadner & Co Saechsische Patent | Bearings for vehicle axles |
| GB2063187A (en) * | 1979-10-30 | 1981-06-03 | Jungheinrich Kg | Resiliently mounted supporting roller for conveying vehicles |
| JPH08310462A (en) * | 1995-05-22 | 1996-11-26 | Nissan Motor Co Ltd | Travel car for space search |
| US20050206101A1 (en) * | 2002-09-17 | 2005-09-22 | Bouton Todd R | Four wheel drive stationary body vehicle having controlled wheel and passenger compartment lateral lean with independent steering |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN101554895A (en) * | 2009-05-14 | 2009-10-14 | 上海交通大学 | Travelling and folding system of moon rover |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN106314111A (en) * | 2016-09-29 | 2017-01-11 | 北京理工大学 | Differential-steering unmanned motor vehicle |
| CN110709314A (en) * | 2017-07-04 | 2020-01-17 | 投津欧陆股份有限公司 | Rocker arm bogie mechanism and walking device |
| CN209382135U (en) * | 2018-11-14 | 2019-09-13 | 山东科技大学 | One kind six takes turns adaptive cross-country trolley |
| CN111824457A (en) * | 2020-07-22 | 2020-10-27 | 曹宇婷 | Independent driving steering system of six-wheel rocker arm unmanned lunar vehicle and design method |
| CN112829966A (en) * | 2021-02-07 | 2021-05-25 | 上海埃依斯航天科技有限公司 | Multipurpose mobile device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4540385A (en) | Drive shaft assembly | |
| US6189413B1 (en) | Captive molding with dissimilar material insert | |
| US10087979B2 (en) | Composite tube for torque and/or load transmissions and related methods | |
| US20050277480A1 (en) | Flange assembly for supporting a bearing and an end fitting in a driveshaft assembly | |
| US11512734B2 (en) | Shaft-tube joint structure of carbon fiber reinforced plastic drive shaft | |
| CN210531442U (en) | Carbon-fibre composite transmission shaft central siphon joint design | |
| CN113665846A (en) | Rocker mechanism suitable for deep space inspection device moving | |
| US20020198057A1 (en) | Shaft coupling | |
| CN206943245U (en) | A kind of hollow central siphon driving-shaft assembly | |
| AU701046B2 (en) | Net formed tube yoke for drive line assembly | |
| AU2004202952A1 (en) | Method of Manufacturing a Combined Driveshaft Tube and Yoke Assembly | |
| CN103016646A (en) | Angle-intersection transmission five-gear transmission of medium bus | |
| CN113942248B (en) | Manufacturing method of composite material transmission shaft and composite material transmission shaft | |
| CN111891217B (en) | Suspension structure of vehicle and vehicle | |
| JPH041374Y2 (en) | ||
| CN217623737U (en) | Sectional type steering intermediate shaft applied to automobile steering system | |
| CN113251062A (en) | Drive operation device and installation method | |
| CN111059164A (en) | Adjustable driving shaft lever structure and using method thereof | |
| CN112936335B (en) | Robot joint structure and assembling method thereof | |
| CN2201287Y (en) | Noise silencing automotive transmission shaft | |
| CN213734600U (en) | Power assembly for vehicle and vehicle | |
| CN203051643U (en) | Angle intersection transmission five-gear speed changer of medium bus | |
| CN220410689U (en) | Steering shaft mechanism for vehicle | |
| CN106794643B (en) | Transmission shaft and production method thereof | |
| CN210082828U (en) | Novel two segmentation drive shaft structures and car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |