CN114228852A - Stair walking device and robot - Google Patents
Stair walking device and robot Download PDFInfo
- Publication number
- CN114228852A CN114228852A CN202210017218.2A CN202210017218A CN114228852A CN 114228852 A CN114228852 A CN 114228852A CN 202210017218 A CN202210017218 A CN 202210017218A CN 114228852 A CN114228852 A CN 114228852A
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- Prior art keywords
- wheel
- balance
- crawler
- track
- polygonal
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- 239000013013 elastic material Substances 0.000 claims description 4
- 239000011435 rock Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 239000013536 elastomeric material Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 229920002943 EPDM rubber Polymers 0.000 description 1
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 239000012858 resilient material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/07—Mono-track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to a stair walking device and a robot. The stair walking device comprises: a track beam; the first crawler wheel is arranged at one end of the crawler beam; the second crawler wheel is arranged at the other end of the crawler beam and is arranged with the first crawler wheel side by side along the advancing direction of the first crawler wheel; the crawler belt is sleeved outside the first crawler wheel and the second crawler wheel; and a balance wheel group including a balance beam installed below the track beam, a first wheel installed on the balance beam, a second wheel installed on the balance beam and arranged side by side with the first wheel in a traveling direction of the first track wheel, the balance beam being connected with the track beam by a hinge member so that the balance beam can rock in pitch with respect to the track beam, the first wheel and the second wheel each being located between the track beam and the track below the track beam, and an elastic member configured to apply an elastic force to the balance beam to keep the balance beam in a position parallel to the track beam.
Description
Technical Field
The invention relates to the technical field of engineering, in particular to a stair walking device and a robot.
Background
The track running system is widely applied to various emergency rescue robots due to the advantages of low grounding pressure, strong trafficability and the like. The stair road condition is a typical road condition of urban emergency rescue, and the emergency rescue robot needs to have the function of going up and down stairs. During the process of going down stairs, the emergency rescue robot will experience the change process of 'horizontal state → inclined state → horizontal state'.
For the cantilever-free emergency rescue robot, the moving speed of the mass center of the robot is in an acceleration process in the transition process of horizontal state → inclined state, and the robot has a tipping risk. The transition process of the horizontal state → the inclined state is a key risk point of the emergency rescue robot during the process of going downstairs.
Disclosure of Invention
The invention aims to provide a stair walking device and a robot, which are used for solving the problem that the stair walking device in the related art has sudden gradient when going upstairs and downstairs to cause danger.
According to an aspect of an embodiment of the present invention, there is provided a stair walking device including:
a track beam;
the first crawler wheel is arranged at one end of the crawler beam;
the second crawler wheel is arranged at the other end of the crawler beam and is arranged with the first crawler wheel side by side along the advancing direction of the first crawler wheel;
the crawler belt is sleeved outside the first crawler wheel and the second crawler wheel;
and a balance wheel group including a balance beam installed below the track beam, a first wheel installed on the balance beam, a second wheel installed on the balance beam and arranged side by side with the first wheel in a traveling direction of the first track wheel, the balance beam being connected with the track beam by a hinge member so that the balance beam can rock in pitch with respect to the track beam, the first wheel and the second wheel each being located between the track beam and the track below the track beam, and an elastic member configured to apply an elastic force to the balance beam to keep the balance beam in a position parallel to the track beam.
In some embodiments, the articulation member is located between the first and second wheels in a direction of travel of the first track wheel.
In some embodiments, the hinge member includes a polygonal shaft, the balance wheel group further includes a polygonal tubular member fitted around an outer portion of the polygonal shaft, in a cross section of the polygonal shaft and the polygonal tubular member, a vertex angle of the polygonal shaft and a vertex angle of the polygonal tubular member are arranged to be offset in a circumferential direction of the polygonal shaft, the elastic member includes an elastic material body provided in a space between a rim of the polygonal shaft and the vertex angle of the polygonal tubular member, one of the polygonal tubular member and the polygonal shaft is attached to the balance beam, and the other is attached to the track beam.
In some embodiments, the polygonal shaft is mounted on the track beam, the track beam includes two side walls arranged side by side and at an interval along a width direction of the track beam, and two ends of the polygonal shaft are respectively connected with the two side walls.
In some embodiments, the polygonal tubular member is provided on the balance beam, the balance beam is provided with a strip-shaped groove extending in the width direction of the crawler beam, the polygonal tubular member includes a cover body extending in the width direction of the balance beam, and the cover body is covered on the strip-shaped groove to form an inner cavity for accommodating the polygonal shaft.
In some embodiments, the polygonal shaft and the polygonal tubular member have the same number of sides.
In some embodiments, the polygonal shaft is a tri-morph or quadrilateral in cross-section.
In some embodiments, the hinge member axis direction is parallel to the width direction along the track beam.
In some embodiments, the stair traversing device comprises two balance wheel sets, the two balance wheel sets are arranged side by side along the length direction of the track beam, and the two balance wheel sets are symmetrically arranged on two sides of the center of mass of the track beam.
According to another aspect of the invention, a robot is also provided, comprising the stair walking device.
Use the technical scheme of this application, stair running gear is when walking down on the stair, along with stair running gear's removal, stair running gear's front end downward sloping, stair running gear anticlockwise upset, the second wheel that is located the place ahead is unsettled at first, the loaded reduction, the first wheel that is located the rear is loaded the increase, the relative track beam of balanced wheelset produces the sudden change of clockwise suppression moment in order to slow down stair running gear's gradient, the stair running gear gradient sudden change that exists among the correlation technique has been improved and has been caused dangerous problem when going up and down stairs.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
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, and 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 these drawings without creative efforts.
Fig. 1 shows a schematic construction of a stair walking device according to an embodiment of the invention;
fig. 2 shows a schematic view of the working principle of the stair walking device of the embodiment of the present invention;
fig. 3 shows an exploded view of the stair walking device of the embodiment of the present invention; and
FIG. 4 shows a schematic structural view of a balance wheel set of the stair walking device of an embodiment of the present invention;
FIG. 5 shows an exploded view of the balance wheel set of the stair walking device of an embodiment of the present invention; and
FIG. 6 is a schematic structural view showing a polygonal shaft of the stair walking device according to the embodiment of the present invention
Fig. 7 shows a schematic view of the polygonal shaft and the cross-section of the polygonal tubular part of the stair walking device of an embodiment of the invention;
fig. 8 shows a schematic view of the structure of the resilient part of the stair walking device according to the embodiment of the present invention.
In the figure:
1. a track beam; 2. a first crawler wheel; 3. a second crawler wheel; 4. a crawler belt; 5. a balance wheel set; 51. a balance beam; 52. a hinge member; 53. a first wheel; 54. a second wheel; 55. an elastic member; 56. a polygonal tubular member; 57. a first bolt; 58. a second bolt; 59. mounting a plate; 510. a strip-shaped groove; 6. a motor; 7. a drag chain wheel; 8. tensioning the spring; 9. a staircase; 10. and (7) a cover plate.
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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
As shown in fig. 1 to 3, the stair running gear of the present embodiment includes a crawler beam 1, a first crawler wheel 2, a second crawler wheel 3, a crawler 4, and a balance wheel group 5.
The first crawler wheel 2 is arranged at one end of the crawler beam 1; the second crawler wheel 3 is arranged at the other end of the crawler beam 1 and is arranged with the first crawler wheel 2 in parallel along the advancing direction of the first crawler wheel 2; the crawler 4 is sleeved outside the first crawler wheel 2 and the second crawler wheel 3.
The balance wheel group 5 includes a balance beam 51 installed below the track beam 1, a first wheel 53 installed on the balance beam 51, a second wheel 54 installed on the balance beam 51 and arranged side by side with the first wheel 53 in a traveling direction of the first track wheel 2, the balance beam 51 being connected with the track beam 1 by a hinge member 52 so that the balance beam 51 can pitch and swing with respect to the track beam 1, the first wheel 53 and the second wheel 54 each being located between the track beam 1 and the track 4 below the track beam 1, and a resilient member 55 configured to apply a resilient force to the balance beam 51 to keep the balance beam 51 in a position parallel to the track beam 1.
The stair walking device further comprises a motor 6 in driving connection with the second crawler wheel 3. The walking motor 6 is coaxially arranged and connected with the second crawler wheel 3. The stair walking device further comprises a tensioning spring 8 which urges the first track wheel 2 outwards to tension the track 4. The stair walking device further comprises a drag sprocket 7 mounted between the upper portion of the track beam 1 and the track 4.
In this embodiment, when stair running gear walks downwards on stair 9, along with stair running gear's removal, stair running gear's front end downward sloping, stair running gear anticlockwise overturns, second wheel 54 that is located the place ahead is unsettled at first, the loaded reduction, the first wheel 53 that is located the rear is loaded the increase, balance wheel group 5 produces the sudden change of clockwise suppression moment in order to slow down stair running gear's gradient relative to track beam 1, the stair running gear gradient sudden change that exists among the correlation technique has been improved and has been caused dangerous problem when going upstairs and downstairs.
In the direction of travel of the first track wheel 2, the articulated member 52 is located between a first wheel 53 and a second wheel 54. Alternatively, the first wheel 53 and the second wheel 54 are symmetrically arranged on both sides of the hinge part 52.
As shown in fig. 4 to 6, the hinge member 52 includes a polygonal shaft, the balance wheel group 5 further includes a polygonal tubular member 56 fitted around the outside of the polygonal shaft, the vertex angles of the polygonal shaft and the polygon tubular member 56 are arranged in a staggered manner in the circumferential direction of the polygonal shaft in the cross section of the polygonal shaft and the polygonal tubular member 56, the elastic member 55 includes an elastic material provided in the space between the rim of the polygonal shaft and the vertex angle of the polygon tubular member 56, one of the polygonal tubular member 56 and the polygonal shaft is attached to the balance beam 51, and the other is attached to the crawler beam 1.
As shown in fig. 8, the body of elastomeric material is a cylindrical member extending in a direction parallel to the polygonal axis, the body of elastomeric material having a diameter d. Wherein the elastic material body is natural rubber, ethylene propylene diene monomer or polyurethane. The body of elastomeric material has a hardness of 70-90 HS. In some embodiments, the body of resilient material has a tensile strength ≧ 20 MPa.
Polygonal shaft installs on track roof beam 1, and track roof beam 1 includes two lateral walls along track roof beam 1's width direction side by side and interval arrangement, and the both ends of polygonal shaft are connected with two lateral walls respectively. As shown in fig. 6, the hinge part 52 further includes a mounting plate 59 coupled to an end of the polygonal shaft, and the mounting plate 59 is provided with bolt holes to facilitate mounting on the side wall of the track beam 1 by bolts.
In some embodiments, the track beam 1 is further provided with a viewing aperture, and the stair walking device further comprises a cover plate 10 mounted on the viewing aperture.
The polygonal tubular member 56 is provided on the balance beam 51, the balance beam 51 is provided with a strip-shaped groove 510 extending in the width direction of the crawler beam 1, and the polygonal tubular member 56 includes a lid body extending in the width direction of the balance beam 1, the lid body covering the strip-shaped groove to form an inner cavity for accommodating a polygonal shaft. The cover is mounted on the balance beam 51 by a first bolt 57. The first wheel 53 and the second wheel 54 are respectively mounted on the balance beam 51 by the second bolts 58.
The polygonal shaft and the polygonal tubular member 56 have the same number of sides. The cross section of the polygonal shaft is a three-deformation or quadrilateral. Optionally, both the polygonal shaft and the polygonal tubular member 56 are regular polygons.
As shown in fig. 7, in the present embodiment, both the polygonal shaft and the polygonal tubular member are square.
Wherein the side length of the cross section of the inner cavity of the polygonal tubular part 56 is D1, and the side length of the cross section of the polygonal shaft is D2, wherein D2 is (0.5-0.8) × D1. The body of elastomeric material has a diameter D ═ 1.1 to 1.35 (D1 to D2).
The axis direction of the hinge member 52 is parallel to the width direction of the track beam 1, and the front and rear ends of the balance beam 51 are tilted about the hinge member 52.
The stair walking device comprises two balance wheel sets 5, the two balance wheel sets 5 are arranged side by side along the length direction of the crawler beam 1, and the two balance wheel sets 5 are symmetrically arranged on two sides of the mass center of the crawler beam 1.
Referring to fig. 2, when the stair walking device walks downwards on the stairs 9 by taking the inward direction of the paper as a normal direction, the front end of the stair walking device inclines downwards along with the movement of the stair walking device, the stair walking device turns anticlockwise, the second wheel 54 positioned in front is suspended firstly, the load is reduced, the load of the first wheel 53 positioned in rear is increased, and the balance wheel set 5 positioned in front of the crawler beam 1 generates a clockwise restraining moment relative to the crawler beam 1; the balance wheel set 5 located at the rear of the track beam 1 is torsionally offset counterclockwise with respect to the track beam, and the balance wheel set 5 located at the rear of the track beam 1 generates a clockwise damping moment. The restraining moment of the two balance wheel sets 5 will reduce the acceleration of the center of mass of the stair walking device, reducing the peak value of the speed. Along with the movement of the stair walking device, when the two balance wheel sets 5 are suspended, the balance wheel set 5 positioned at the rear part of the crawler beam 1 generates clockwise inhibiting moment, and the acceleration and the speed of the mass center of the vehicle body are reduced. When the two balance wheel sets 5 are in contact with the slope surface of the stairs 9, the robot achieves a smooth "horizontal state → inclined state".
According to another aspect of the invention, there is also provided a robot comprising a stair walking device as described above.
The present invention is not limited to the above exemplary embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A stair walking device, comprising:
a crawler beam (1);
the first crawler wheel (2) is installed at one end of the crawler beam (1);
the second crawler wheel (3) is arranged at the other end of the crawler beam (1) and is arranged with the first crawler wheel (2) in parallel along the traveling direction of the first crawler wheel (2);
the crawler belt (4) is sleeved outside the first crawler wheel (2) and the second crawler wheel (3);
a balance wheel set (5) comprising a balance beam (51) mounted below the track beam (1), a first wheel (53) mounted on the balance beam (51), a second wheel (54) mounted on the balance beam (51) and arranged side by side with the first wheel (53) in the direction of travel of the first track wheel (2), and an elastic member (55), the balance beam (51) is connected with the track beam (1) through a hinge component (52), so that the balance beam (51) can pitch and swing relative to the track beam (1), the first wheel (53) and the second wheel (54) are both located between the track beam (1) and the track (4) below the track beam (1), the elastic member (55) is configured to apply an elastic force to the equalizer bar (51) that keeps the equalizer bar (51) in a position parallel to the track beam (1).
2. Stair walking device according to claim 1, wherein in the direction of travel of the first crawler wheel (2) the articulation member (52) is located between the first wheel (53) and the second wheel (54).
3. Stair walking device according to claim 1, characterized in that said articulated element (52) comprises a polygonal shaft, said balance wheel group (5) further comprises polygonal tubular elements (56) fitted on the outside of said polygonal shaft, the vertices of said polygonal shaft and the vertices of said polygonal tubular elements (56) being staggered in the circumferential direction of said polygonal shaft in the cross section of said polygonal shaft and said polygonal tubular elements (56), said elastic element (55) comprises a body of elastic material provided in the space between the borders of said polygonal shaft and the vertices of said polygonal tubular elements (56), one of said polygonal tubular elements (56) and said polygonal shaft being mounted on said balance beam (51) and the other on said track beam (1).
4. Stair walking device according to claim 3, wherein said polygonal shaft is mounted on said track beam (1), said track beam (1) comprising two side walls arranged side by side and spaced apart along the width direction of said track beam (1), said polygonal shaft being connected at its two ends to said two side walls, respectively.
5. Stair walking device according to claim 3, wherein the polygonal tubular member (56) is provided on the balance beam (51), the balance beam (51) being provided with a strip-shaped groove (510) extending in the width direction of the track beam (1), the polygonal tubular member (56) comprising a cover extending in the width direction of the balance beam (1), the cover being provided over the strip-shaped groove to form an inner cavity for accommodating the polygonal shaft.
6. Stair walking device according to claim 3, wherein the number of sides of the polygonal shaft and the polygonal tubular part (506) is the same.
7. Stair walking device according to any of claims 3-6, wherein the polygonal shaft is tri-deformed or quadrangular in cross section.
8. Stair walking device according to claim 1, characterized in that the direction of the axis of the hinged part (52) is parallel to the width direction along the track beam (1).
9. Stair walking device according to claim 1, characterized in that it comprises two said balance wheel sets (5), said two balance wheel sets (5) being arranged side by side along the length direction of said track beam (1), and said two balance wheel sets (5) being symmetrically arranged on either side of the centre of mass of said track beam (1).
10. A robot, characterized by comprising a stair walking device according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210017218.2A CN114228852B (en) | 2022-01-07 | 2022-01-07 | Stair running gear and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210017218.2A CN114228852B (en) | 2022-01-07 | 2022-01-07 | Stair running gear and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114228852A true CN114228852A (en) | 2022-03-25 |
| CN114228852B CN114228852B (en) | 2023-07-04 |
Family
ID=80746009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210017218.2A Active CN114228852B (en) | 2022-01-07 | 2022-01-07 | Stair running gear and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114228852B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077483A (en) * | 1975-09-19 | 1978-03-07 | Randolph Arthur J | Invalid vehicle |
| US6644426B1 (en) * | 2002-10-11 | 2003-11-11 | Ward Lincoln Larue | Mobility device |
| US20040144577A1 (en) * | 2002-04-23 | 2004-07-29 | Gene Anderson | Wheel chair |
| CN2671914Y (en) * | 2003-09-14 | 2005-01-19 | 中外合资镇江华晨华通路面机械有限公司 | Crawler belt structure of road paver |
| CN1681701A (en) * | 2002-07-09 | 2005-10-12 | 布劳-诺克斯建筑设备公司 | Double-axis oscillating bogie wheels |
| CN205440587U (en) * | 2015-12-24 | 2016-08-10 | 广州市花都区秀全外国语学校 | Crawler frame people |
| CN106335563A (en) * | 2016-10-14 | 2017-01-18 | 山东国兴智能科技有限公司 | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism |
| CN108674506A (en) * | 2018-07-25 | 2018-10-19 | 徐工集团工程机械有限公司 | Vehicle track running gear |
| CN208036464U (en) * | 2018-04-08 | 2018-11-02 | 镇江市胜得机械制造有限责任公司 | A kind of caterpillar chassis |
-
2022
- 2022-01-07 CN CN202210017218.2A patent/CN114228852B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077483A (en) * | 1975-09-19 | 1978-03-07 | Randolph Arthur J | Invalid vehicle |
| US20040144577A1 (en) * | 2002-04-23 | 2004-07-29 | Gene Anderson | Wheel chair |
| CN1681701A (en) * | 2002-07-09 | 2005-10-12 | 布劳-诺克斯建筑设备公司 | Double-axis oscillating bogie wheels |
| US6644426B1 (en) * | 2002-10-11 | 2003-11-11 | Ward Lincoln Larue | Mobility device |
| CN2671914Y (en) * | 2003-09-14 | 2005-01-19 | 中外合资镇江华晨华通路面机械有限公司 | Crawler belt structure of road paver |
| CN205440587U (en) * | 2015-12-24 | 2016-08-10 | 广州市花都区秀全外国语学校 | Crawler frame people |
| CN106335563A (en) * | 2016-10-14 | 2017-01-18 | 山东国兴智能科技有限公司 | Double-row compound bearing wheel set crawler-type moving chassis damping traveling mechanism |
| CN208036464U (en) * | 2018-04-08 | 2018-11-02 | 镇江市胜得机械制造有限责任公司 | A kind of caterpillar chassis |
| CN108674506A (en) * | 2018-07-25 | 2018-10-19 | 徐工集团工程机械有限公司 | Vehicle track running gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114228852B (en) | 2023-07-04 |
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