CN113771973A - A wheel structure of a wheel-track coupled robot - Google Patents
A wheel structure of a wheel-track coupled robot Download PDFInfo
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- CN113771973A CN113771973A CN202111032603.6A CN202111032603A CN113771973A CN 113771973 A CN113771973 A CN 113771973A CN 202111032603 A CN202111032603 A CN 202111032603A CN 113771973 A CN113771973 A CN 113771973A
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- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
- 230000002093 peripheral effect Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 abstract description 7
- 238000010168 coupling process Methods 0.000 abstract description 7
- 238000005859 coupling reaction Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheel structure of a wheel-track coupling robot, which comprises a wheel body, a track, a wheel-track conversion driving mechanism, a wheel body driving mechanism and a track driving mechanism, wherein the wheel body is arranged on the track; a crawler belt is sleeved on the peripheral side of the wheel body; the wheel body driving mechanism is in transmission connection with the wheel body; the wheel-track conversion driving mechanism and the track driving mechanism are both arranged on the wheel body; the wheel-track conversion driving mechanism is used for driving the wheel body to switch between a round wheel state and a triangular track state; the crawler driving mechanism is used for driving the crawler to roll when the wheel body is in a crawler state; the wheel body driving mechanism is used for driving the wheel body to rotate when the wheel body is in a wheel state. The wheel structure combines the wheels and the crawler belt together, can smoothly realize the conversion between the wheel form and the crawler belt form, and can keep the structure stable under the crawler belt form.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a wheel structure of a wheel-track coupling robot.
Background
With the gradual development of robot technology, in many environments where direct operation by human is not suitable, the robot needs to be operated instead of human. The mobile robot has the characteristics of small volume, flexible movement and the like, and becomes the robot with the highest use frequency. Currently, two types of common mobile robots mainly include a wheeled robot and a tracked robot. The wheel type robot has the characteristics of stable operation, strong maneuvering capability, higher requirement on road conditions and poorer obstacle crossing capability. The tracked robot can adapt to many more complex environments, but has poor maneuverability. In order to improve the adaptability of the robot to different environments, more and more people begin to research wheel-track combined robots.
Disclosure of Invention
In view of the above, the present invention provides a wheel structure of a wheel-track coupled robot, in which a wheel and a track are combined together, the wheel structure can smoothly convert the wheel form into the track form, and the wheel structure can be kept stable in the track form.
The invention adopts the following specific technical scheme:
a wheel structure of a wheel-track coupling robot comprises a wheel body, a track, a wheel-track conversion driving mechanism, a wheel body driving mechanism and a track driving mechanism;
the crawler belt is sleeved on the outer peripheral side of the wheel body;
the wheel body driving mechanism is in transmission connection with the wheel body;
the wheel-track conversion driving mechanism and the track driving mechanism are both arranged on the wheel body;
the wheel-track conversion driving mechanism is used for driving the wheel body to switch between a round wheel state and a triangular track state;
the crawler driving mechanism is used for driving the crawler to roll when the wheel body is in a crawler state;
the wheel body driving mechanism is used for driving the wheel body to rotate when the wheel body is in a wheel state.
Furthermore, the wheel body comprises two rims, three connecting shafts, a plurality of rollers and a wheel body center supporting mechanism;
each rim consists of six circular arc sections which are sequentially hinged end to end along the circumferential direction;
the two rims are opposite and symmetrically arranged along the axial direction, and three connecting shafts which are uniformly distributed along the circumferential direction and a plurality of rollers which are distributed along the circumferential direction are connected between the two rims;
both ends of the connecting shaft are hinged with the end parts of the two adjacent arc sections;
both ends of the roller are hinged with the arc sections;
the wheel body center supporting mechanism comprises a center shaft, three sliding block guide rails, three springs and spring mounting seats which correspond to the connecting shafts one by one;
the central shaft is arranged in the center of the rim;
the three slider guide rails and the three spring mounting seats are uniformly and alternately distributed on the outer peripheral side of the central shaft along the circumferential direction of the central shaft;
the spring mounting seat can be telescopically connected between the central shaft and the corresponding connecting shaft along the radial direction;
each spring mounting seat is sleeved with one spring;
when the wheel body is in a track state, the spring is in a compressed state.
Furthermore, the wheel-track conversion driving mechanism comprises sliding blocks which are in one-to-one correspondence with the sliding block guide rails, rocking rods which are in one-to-one correspondence with the sliding blocks and a driving rotating shaft which is coaxially arranged with the central shaft;
one end of each sliding block is in sliding fit with the corresponding sliding block guide rail, and the other end of each sliding block is hinged with the two wheel rims;
the rocker is hinged between the driving rotating shaft and the sliding block;
the driving rotating shaft drives the sliding block to slide along the radial direction through the rocker and is used for driving the rim to switch between a wheel state and a track state.
Furthermore, the wheel body driving mechanism comprises a driving shaft, a supporting seat and a driven gear;
the driving shaft is fixedly connected with the central shaft;
the driven gear is mounted at one end of the driving shaft;
the driving shaft is mounted on the supporting seat through a rolling bearing.
Furthermore, the crawler driving mechanism comprises a first driving motor, a driving synchronous wheel and two driven synchronous wheels;
the driving motor is in transmission connection with the driving synchronous wheel and can be rotatably arranged at the radial outer end part of a sliding block;
the two driven synchronous wheels can be rotatably arranged at the radial outer end parts of the other two sliding blocks;
when the wheel body is in a track state, the driving synchronizing wheel and the driven synchronizing wheel are both meshed with the track.
Furthermore, the driven synchronous wheel comprises a driven shaft and driven belt wheels, wherein two ends of the driven shaft are hinged with the sliding blocks, and the driven belt wheels are installed at two ends of the driven shaft;
the driven pulley is engaged with the track.
Furthermore, the central shaft is a hollow shaft, and a section of arc-shaped groove is formed in the inner side wall of the central shaft;
the driving rotating shaft is supported in the hollow shaft through a bearing, one end of the driving rotating shaft extends out of the central shaft, and the driving rotating shaft is provided with a limiting convex key accommodated in the arc-shaped groove;
the central angle corresponding to the arc-shaped groove is the same as the rotation angle of the driving rotating shaft when the wheel body is converted from the wheel state to the crawler state.
Still further, the device also comprises a second driving motor for driving the driving shaft to rotate;
and a driving gear meshed with the driven gear is mounted on an output shaft of the second driving motor.
Furthermore, the device also comprises a third driving motor for driving the driving rotating shaft to rotate;
and an output shaft of the third driving motor is fixedly connected with the driving rotating shaft.
Further, the spring mounting seat comprises an upper mounting seat and a lower mounting seat which are matched in a sliding mode;
one end of the upper mounting seat, which is far away from the central shaft, is fixedly mounted on the connecting shaft, and an upper limiting ring is fixedly mounted on the upper mounting seat;
one end of the lower mounting seat, which is far away from the connecting shaft, is fixedly mounted on the central shaft, and a lower limiting ring is fixedly mounted on the lower mounting seat;
the spring is sleeved on the upper mounting seat and the lower mounting seat and is limited between the upper limiting ring and the lower limiting ring.
Has the advantages that:
the wheel structure of the wheel-track coupling robot is characterized in that a track is sleeved on the outer peripheral side of a wheel body, the wheel body has a circular wheel state and a triangular track state, and the wheel body is driven by a wheel-track conversion driving mechanism to be switched between the circular wheel state and the triangular track state; when the wheel body is in a track state, the track driving mechanism drives the track to roll; when the wheel body is in a wheel state, the wheel body driving mechanism is used for driving the wheel body to rotate; the wheel structure combines the wheels and the crawler belts together, smoothly realizes the conversion between the wheel form and the crawler belt form, can realize the functions of the wheels and the crawler belt, combines the wheels and the crawler belt into a whole, improves the obstacle crossing capability while ensuring the mobility, and keeps the structure stable in the crawler belt form.
Drawings
Fig. 1 is a schematic perspective view of a wheel structure of a wheel-track coupled robot according to the present invention;
FIG. 2 is a schematic perspective view of the wheel structure of FIG. 1 with the track removed;
FIG. 3 is a schematic perspective view of the wheel structure of the present invention with the track removed for use as a wheel;
FIG. 4 is a schematic half-sectional view of the wheel mechanism of FIG. 3;
fig. 5 is a schematic view of an assembly structure between the driving rotating shaft and the central shaft.
Wherein, 1-wheel body, 2-track, 3-supporting seat, 4-second driving motor, 5-third driving motor, 101-central shaft, 102-slide block guide rail, 103-lower mounting seat, 104-upper mounting seat, 105-wheel rim, 106-connecting shaft, 107-roller, 108-spring, 109-arc groove, 201-driving rotating shaft, 202-rocker, 203-slide block, 204-bearing, 205-unlubricated bearing, 206-limit convex key, 301-driving shaft, 302-rolling bearing, 303-driving gear, 401-first driving motor, 402-driving synchronizing wheel, 403-driven pulley, 404-driven shaft
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a wheel structure of a wheel-track coupling robot, which can be used as a round wheel state shown as a structure 3 and a triangular track 2 state shown as structures of figures 1 and 2; as shown in the structure of fig. 1, the wheel structure comprises a wheel body 1, a track 2, a wheel-track conversion driving mechanism, a wheel body driving mechanism and a track driving mechanism; the crawler belt 2 is sleeved on the outer peripheral side of the wheel body 1, and the crawler belt 2 is tensioned on the outer peripheral side of the rim 105; the wheel body driving mechanism is in transmission connection with the wheel body 1 and is used for driving the wheel body 1 to rotate; the wheel-track conversion driving mechanism and the track driving mechanism are both arranged on the wheel body 1; the wheel-track conversion driving mechanism is used for driving the wheel body 1 to switch between a circular wheel state and a triangular track 2 state; the crawler driving mechanism is used for driving the crawler 2 to roll when the wheel body 1 is in the crawler 2 state; the wheel body driving mechanism is used for driving the wheel body 1 to rotate when the wheel body 1 is in a wheel state.
The wheel structure of the wheel-track coupling robot is characterized in that a track 2 is sleeved on the outer peripheral side of a wheel body 1, the wheel body 1 has a circular wheel state and a triangular track 2 state, and the wheel body 1 can be driven to be switched between the circular wheel state and the triangular track 2 state through a wheel-track conversion driving mechanism; as shown in fig. 1 and 2, when the wheel body 1 is in a state of the track 2, the track driving mechanism drives the track 2 to roll, and at this time, the wheel structure of the invention is used as the track 2, so that the obstacle crossing capability of a robot or a vehicle provided with the wheel can be improved; as shown in fig. 3, when the wheel body 1 is in a wheel state, the wheel body driving mechanism is used for driving the wheel body 1 to rotate, and at this time, the wheel structure of the present invention performs rolling motion as a common circular wheel, so as to improve the mobility of a robot or a vehicle equipped with the wheel structure; therefore, the wheel structure combines the wheels and the crawler belt 2 together, smoothly realizes the conversion of the wheel form and the crawler belt 2 form, can realize the functions of the wheels and the crawler belt 2, combines the wheels and the crawler belt 2 into a whole, improves the obstacle crossing capability while ensuring the mobility, and keeps the structure stable under the crawler belt 2 form.
In a specific embodiment, as shown in fig. 2 and 3, the wheel body 1 comprises two rims 105, three connecting shafts 106, a plurality of rollers 107 and a wheel body 1 central supporting mechanism; each rim 105 is composed of six circular arc sections which are sequentially hinged end to end along the circumferential direction; each circular arc section is 1/6 rim 105, 6 circular arc sections are arranged in sequence along the circumferential direction, and the head ends and the tail ends of two adjacent circular arc sections are hinged together, so that the two adjacent circular arc sections can rotate relatively by taking a hinged point as the center; the two rims 105 are axially opposite and symmetrically arranged, that is, the arc sections and the hinge points of the two rims 105 are symmetrically arranged; three connecting shafts 106 which are uniformly distributed along the circumferential direction and a plurality of rollers 107 which are distributed along the circumferential direction are connected between the two rims 105, the two rims 105 are connected and supported through the three connecting shafts 106 and the plurality of rollers 107, the number of the rollers 107 can be 18 in the figure, and the rollers 107 are used for supporting the rims 105 and the crawler 2; both ends of the connecting shaft 106 are hinged to the end portions of the two adjacent circular arc sections, that is, one end of the connecting shaft 106 hinges the two adjacent circular arc sections of one rim 105 together, the other end hinges the two adjacent circular arc sections of the other rim 105 together, and the hinge points are located at the end portions of the two circular arc sections; both ends of the roller 107 are hinged with the arc sections, the roller 107 is supported between the two opposite arc sections, and the roller 107 can rotate around a roller shaft (not shown in the figure);
the wheel body 1 center supporting mechanism comprises a center shaft 101, three slide block guide rails 102, three springs 108 and spring 108 mounting seats which are in one-to-one correspondence with connecting shafts 106; the central shaft 101 is arranged at the center of the rim 105; the three slider guides 102 and the three spring 108 mounting seats are uniformly and alternately distributed on the outer peripheral side of the central shaft 101 along the circumferential direction of the central shaft 101, that is, the three slider guides 102 and the three spring 108 mounting seats are uniformly distributed along the circumferential direction on the outer peripheral surface of the central shaft 101, and the slider guides 102 and the spring 108 mounting seats are sequentially and alternately arranged; the spring 108 mounting seat can be telescopically connected between the central shaft 101 and the corresponding connecting shaft 106 along the radial direction; each spring 108 mounting seat is sleeved with a spring 108; when the wheels 1 are in the track 2 condition, the springs 108 are in a compressed condition.
As shown in the structure of fig. 3, the spring 108 mounting seat may include an upper mounting seat 104 and a lower mounting seat 103 which are in sliding fit; one end of the upper mounting seat 104, which is far away from the central shaft 101, is fixedly mounted on the connecting shaft 106, and is fixedly mounted with an upper limit ring; one end of the lower mounting seat 103, which is far away from the connecting shaft 106, is fixedly mounted on the central shaft 101, and is fixedly provided with a lower limiting ring; the spring 108 is sleeved on the upper mounting seat 104 and the lower mounting seat 103 and is limited between the upper limiting ring and the lower limiting ring. Due to the sliding fit between the upper mounting seat 104 and the lower mounting seat 103, the upper mounting seat 104 can slide relative to the lower mounting seat 103 along the radial direction, so that the radial distance between the connecting shaft 106 and the central shaft 101 can be changed, and the shape of the wheel body 1 can be supported while the wheel body 1 is converted between a circular shape and a triangular shape; at the same time, the state of the wheel body 1 can be maintained by the spring 108 between the upper and lower retainer rings.
As shown in the structure of fig. 3, the wheel-track conversion driving mechanism includes sliders 203 corresponding to the slider rails 102 one by one, rockers 202 corresponding to the sliders 203 one by one, and a driving rotating shaft 201 disposed coaxially with the central shaft 101, that is, the wheel-track conversion driving mechanism includes three sliders 203 and three rockers 202; one end of the slider 203 is in sliding fit with the corresponding slider guide rail 102, and the other end is hinged with the two rims 105; the rocker 202 is hinged between the driving rotating shaft 201 and the sliding block 203; the driving shaft 201 drives the slider 203 to slide in the radial direction through the rocker 202 for driving the rim 105 to switch between the wheel state and the crawler 2 state.
Because the driving rotating shaft 201 is hinged with the sliding blocks 203 through the rocker 202, and the three sliding blocks 203 are installed on the corresponding sliding block guide rails 102, when the driving rotating shaft 201 rotates, the rocker 202 drives the sliding blocks 203 to only reciprocate along the radial direction, the deformation of the wheel form to the crawler 2 form can be realized through the upward movement of the sliding blocks 203, and the deformation of the crawler 2 form to the wheel form can be realized through the downward movement of the sliding blocks 203. Therefore, the wheel body 1 can be shifted from a circular shape to a triangular shape or from a triangular shape to a circular shape by the wheel-track changing drive mechanism, thereby realizing the shift of the wheel form.
In order to keep the stability of the track 2, as shown in the structure of fig. 5, the central shaft 101 is a hollow shaft, and the inner side wall is provided with a segment of arc-shaped groove 109; the driving rotating shaft 201 is supported in the hollow shaft through a bearing 204, one end of the driving rotating shaft extends out of the central shaft 101, and the driving rotating shaft is provided with a limit convex key 206 accommodated in the arc-shaped groove 109; the bearing 204 may be a non-lubricated bearing 205; the central angle corresponding to the arc-shaped groove 109 is the same as the rotation angle of the driving rotating shaft 201 when the wheel body 1 is converted to the crawler 2 state from the wheel state, that is, when the driving rotating shaft 201 rotates, the limit convex key 206 rotates from one end to the other end of the arc-shaped groove 109, and the rocker 202 drives the sliding block 203 to slide along the radial direction, so that the wheel structure can be just converted to the triangular crawler 2 state from the circular wheel state, or the wheel structure is converted to the circular wheel state from the triangular crawler 2 state. Through the limit matching of the arc-shaped groove 109 of the central shaft 101 and the limit convex key 206 of the driving rotating shaft 201, the slider 203 can be matched under the driving of the spring 108 to realize stable fixation when reaching the highest point, so that the stability of the shape of the crawler 2 can be maintained.
As shown in fig. 4, the wheel driving mechanism includes a driving shaft 301, a support base 3, and a driven gear; the driving shaft 301 is fixedly connected with the central shaft 101; a driven gear is mounted at one end of the driving shaft 301; the drive shaft 301 is mounted to the support base 3 via a rolling bearing 302. The support 3 may be a bracket.
A drive shaft 301 of the wheel drive mechanism is supported by the support base 3 via a rolling bearing 302, and the drive shaft 301 is fixedly connected to the center shaft 101 to transmit a driving force to the center shaft 101, thereby driving the center shaft 101 to rotate and rolling the wheels.
As shown in the structure of fig. 2, the track driving mechanism comprises a first driving motor 401, a driving synchronizing wheel 402 and two driven synchronizing wheels; the driving motor is in transmission connection with the driving synchronizing wheel 402 and can be rotatably arranged at the radial outer end part of one sliding block 203; two driven synchronizing wheels can be rotatably arranged at the radial outer end parts of the other two sliding blocks 203; when the wheel body 1 is in the state of the crawler belt 2, the driving synchronizing wheel 402 and the driven synchronizing wheel are both meshed with the crawler belt 2. When the wheel body 1 is in the state of the crawler belt 2, the crawler belt 2 is driven to rotate by the driving synchronous wheel 402, so that the wheel body 1 moves.
As shown in the structure of fig. 2, the driven synchronous wheel comprises a driven shaft 404 with two ends hinged with the sliding blocks 203 and driven pulleys 403 arranged at two ends of the driven shaft 404; the driven pulley 403 is engaged with the crawler 2.
In order to realize the self-driving of the wheel structure, as shown in fig. 2 and fig. 4, the wheel structure further includes a second driving motor 4 for driving the driving shaft 301 to rotate; the output shaft of the second driving motor 4 is provided with a driving gear 303 engaged with the driven gear, and the driving force of the second driving motor 4 is transmitted to the central shaft 101 through the gear transmission of the driving gear 303 and the driven gear, so that the wheel body 1 is driven to realize rolling motion.
In order to facilitate the control of the form change of the wheel structure, as shown in fig. 2 and fig. 4, the wheel structure further includes a third driving motor 5 for driving the driving shaft 201 to rotate; an output shaft of the third driving motor 5 is fixedly connected with the driving rotating shaft 201; when the wheel structure needs to be subjected to form transformation, the third driving motor 5 rotates to drive the driving rotating shaft 201, so that the wheel structure is changed between the state of the triangular crawler 2 and the state of the round wheel.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111032603.6A CN113771973A (en) | 2021-09-03 | 2021-09-03 | A wheel structure of a wheel-track coupled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111032603.6A CN113771973A (en) | 2021-09-03 | 2021-09-03 | A wheel structure of a wheel-track coupled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113771973A true CN113771973A (en) | 2021-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111032603.6A Pending CN113771973A (en) | 2021-09-03 | 2021-09-03 | A wheel structure of a wheel-track coupled robot |
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| Country | Link |
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| CN (1) | CN113771973A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116118883A (en) * | 2023-03-06 | 2023-05-16 | 河海大学 | Wheel track type reconfigurable wheel |
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| JP2013052779A (en) * | 2011-09-05 | 2013-03-21 | Nihon Univ | Expandable wheel |
| CN103832524A (en) * | 2013-12-03 | 2014-06-04 | 广西大学 | A dual-purpose bicycle for climbing stairs and level ground |
| US20160303901A1 (en) * | 2015-04-20 | 2016-10-20 | Soongsil University Research Consortium Techno-Park | Transformable wheel |
| CN110182269A (en) * | 2019-04-22 | 2019-08-30 | 中国北方车辆研究所 | A kind of achievable wheel carries out the Athey wheel running gear of conversion |
| CN110510017A (en) * | 2019-09-17 | 2019-11-29 | 北京理工大学 | A wheel capable of wheel-shoe transformation |
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
-
2021
- 2021-09-03 CN CN202111032603.6A patent/CN113771973A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013052779A (en) * | 2011-09-05 | 2013-03-21 | Nihon Univ | Expandable wheel |
| CN103832524A (en) * | 2013-12-03 | 2014-06-04 | 广西大学 | A dual-purpose bicycle for climbing stairs and level ground |
| US20160303901A1 (en) * | 2015-04-20 | 2016-10-20 | Soongsil University Research Consortium Techno-Park | Transformable wheel |
| CN110182269A (en) * | 2019-04-22 | 2019-08-30 | 中国北方车辆研究所 | A kind of achievable wheel carries out the Athey wheel running gear of conversion |
| CN110510017A (en) * | 2019-09-17 | 2019-11-29 | 北京理工大学 | A wheel capable of wheel-shoe transformation |
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116118883A (en) * | 2023-03-06 | 2023-05-16 | 河海大学 | Wheel track type reconfigurable wheel |
| CN116118883B (en) * | 2023-03-06 | 2024-09-06 | 河海大学 | Wheel track type reconfigurable wheel |
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Application publication date: 20211210 |