CN210478282U - Wheel diameter variable mechanism - Google Patents
Wheel diameter variable mechanism Download PDFInfo
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- CN210478282U CN210478282U CN201920937966.6U CN201920937966U CN210478282U CN 210478282 U CN210478282 U CN 210478282U CN 201920937966 U CN201920937966 U CN 201920937966U CN 210478282 U CN210478282 U CN 210478282U
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Abstract
The utility model discloses a variable wheel diameter mechanism, which comprises a hub part (100), a driving shaft (200) and a tire part (300); the hub part (100) is installed on the driving shaft (200), and the cross section of the hub part (100) is of a regular polygon structure; the tyre part (300) comprises a plurality of equally divided tyre blocks (302), the number of the tyre blocks (302) corresponds to the number of sides of the hub part (100); the outer side of each tire block (302) is of an arc structure, the inner side of each tire block is a mounting surface corresponding to the side surface of the hub part (100), and the tire blocks (302) are respectively mounted on the corresponding side surfaces of the hub part (100) to form a circular tire. The utility model discloses can change wheel footpath in real time, reduce the wheel slippage rate, reduce the wheel and skid, improve vehicle drive performance to adaptable multiple topography, landform.
Description
Technical Field
The utility model relates to a variable wheel footpath mechanism particularly, indicates a mechanism that can change wheel footpath size in real time for the tire is difficult for skidding, realizes stabilizing the walking.
Background
The ground plant protection spraying machine has the advantages of high efficiency, convenience and the like, and makes an important contribution to the high yield and harvest of grains in China. Because the current farmland is intensively connected and planted in a standardized manner, in order to meet the demand, the ground plant protection equipment is developing towards large-scale direction, so that the spray rod length, the volume of a pesticide box, the weight of the whole machine and the like of the spraying machine are greatly and greatly improved, and the ground spraying machine is easy to sink on a chassis, easy to slip on tires, increased in slip rate and influenced in field operation efficiency, operation quality and the like during field operation.
Aiming at the problems, people design a boat tractor to better solve the problems, but the boat tractor is easy to damage crops and is not suitable for plant protection operation when field management operation is carried out; meanwhile, ZL201010117489.2 designs a wheel with a variable wheel diameter, but the wheel needs to provide extra power to drive the wheel for reducing diameter, and is applied to occasions such as terrain detection and the like; patent ZL201410432127.0 has designed a transformable wheel mechanism, which increases the ground contact area by rotating the wheel blocks, and improves the driving force of the ground to the wheels, but it increases the width of the tire and increases the pressure loss of crops in the field during the transformation operation.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a variable wheel footpath tire mechanism through changing wheel footpath in real time, reduces the wheel slippage rate, reduces the wheel and skids, improves vehicle drive performance to adaptable multiple topography, landform.
The technical scheme is as follows:
a variable wheel diameter mechanism comprises a hub part, a driving shaft and a tire part;
the hub part is arranged on the driving shaft, and the cross section of the hub part is of a regular polygon structure; the tire component comprises a plurality of tire blocks which are equally divided, and the number of the tire blocks corresponds to the number of the edges of the hub component; the outer side of each tire block is of an arc structure, the inner side of each tire block is a mounting surface corresponding to the side surface of the hub part, and the tire blocks are respectively mounted on the corresponding side surfaces of the hub part to form a circular tire;
a guide groove is formed in the mounting surface of the tire block, a mounting groove is formed in the center of the mounting surface of the tire block, and a threaded shaft is fixedly mounted in the mounting groove; a guide rod corresponding to a guide groove arranged on the mounting surface of the tire block is arranged in the middle of each side surface of the hub part; the left guide rod and the guide groove are matched and mounted with each other;
the hub part comprises a rotating flywheel, an electromagnetic clutch, a sun gear, a planetary gear, a torque sensor and a steering sensor; the rotating flywheel, the sun gear, the torque sensor and the steering sensor are all arranged on the driving shaft; the sun gear is slidably mounted on the outer side of the rotating flywheel; the rotary flywheel is a regular polygon body, and each side surface of the rotary flywheel is provided with a unthreaded hole matched with the threaded shaft; the electromagnetic clutch is arranged between the rotating flywheel and the sun gear and comprises an electromagnetic clutch right part and an electromagnetic clutch left part; the right part of the electromagnetic clutch is fixed on the rotating flywheel, and the left part of the electromagnetic clutch is fixed on the sun gear;
the planetary gear is vertically arranged on the side surface of the sun gear, and the distance between the teeth of the planetary gear and the teeth of the sun gear is consistent with the distance between the right part of the electromagnetic clutch and the left part of the electromagnetic clutch; when the right part of the electromagnetic clutch is engaged with the left part of the electromagnetic clutch, the teeth of the sun gear are meshed with the teeth of the planet gear; the central position of the planetary gear is provided with a threaded hole matched with the threaded shaft, the planetary gear is installed on the side surface of the rotating flywheel through a thrust bearing, and the threaded hole in the central position of the planetary gear corresponds to the unthreaded hole in the side surface of the rotating flywheel.
A plurality of compression spring fixing rods are arranged on the side surface of the rotating flywheel opposite to the sun gear, and compression springs are arranged on the compression spring fixing rods; a limiting block is arranged on the driving shaft and positioned on the outer side of the sun gear, and the position of the sun gear is limited by the limiting block and the compression spring fixing rod; the sun gear slides outwards through the elastic force of the compression spring.
The rotating flywheel is of a regular hexagon structure, and the number of the tire blocks is 6.
A mounting groove is formed in the center of the mounting surface of the tire block, and the bottom end of the mounting groove is of a regular polygon structure; the mounting groove is internally provided with a threaded shaft, and the bottom of the threaded shaft is in a regular polyhedron structure corresponding to the bottom of the mounting groove in shape and is matched and fixed with the tail end of the mounting groove.
Guide grooves are formed in two sides of the mounting surface of the tire block, and a left guide rod and a right guide rod which correspond to the guide grooves formed in the two sides of the mounting surface of the tire block are mounted at two ends of the middle position of each side surface of the hub part respectively; the left guide rod and the right guide rod are respectively matched with the guide grooves.
The hub part further comprises a box cover, and the box cover comprises a left box cover and a right box cover; the driving shaft is supported on the left box cover and the right box cover through a left bearing and a right bearing respectively, and is hermetically installed with the right bearing cover and the right oil seal by utilizing the left bearing cover and the left oil seal respectively.
The thread lead angle of the threaded shaft is smaller than the equivalent friction angle of the threaded hole of the planetary gear.
The planetary gear is fixed between the left box cover and the right box cover through a rolling bearing and is fixedly sealed with the oil seal through a bearing cover.
And a steering sensor for detecting the forward or backward movement of the variable wheel diameter mechanism is also arranged on the driving shaft.
Has the advantages that:
(1) the variable-diameter tire provided by the utility model can stably run in dry land and paddy field, the wheel diameter of the wheel is changed in real time, the wheel slip rate is reduced, the wheel slip is reduced, and the vehicle driving performance is improved;
(2) the utility model provides a variable-diameter tire can freely switch the tire radius according to the crop height, improve chassis ground clearance, be difficult for damaging the crop, improve the vehicle field trafficability characteristic; when the sprayer crosses barriers and ridges in the field, the radius of wheels is increased, the ground clearance of a chassis is improved, and the sprayer is not easy to touch the ground;
(3) the utility model discloses the drive adopts the planetary gear structure, through the rotation that changes sun gear to, realizes the radial change of tire, simple and practical.
Drawings
FIG. 1a is a diameter-variable front wheel profile.
FIG. 1b is a drawing of the diameter-variable rear wheel.
Fig. 2a is an assembly view of the front wheel with variable diameter.
Fig. 2b is an assembly view of the diameter-variable rear wheel.
FIG. 3a is a cross-sectional view of the hub portion construction.
FIG. 3b is a front view of the hub member configuration.
FIG. 4a is a side view of a rotating flywheel component.
Fig. 4b is a front view of the rotating flywheel component.
FIG. 5 is a planetary gear member diagram.
FIG. 6 is a side cross-sectional view of a tire block.
Fig. 7 is a work flow diagram.
100-a hub part; 200-driving shaft; 300-a tire component;
101-left guide bar; 102-a box cover; 103-compression spring; 104-compression spring fixing rod; 105-right part of electromagnetic clutch; 106-electromagnetic clutch left; 107-left bearing cap; 108-left bearing; 109-left oil seal; 110-left box cover; 111-sun gear; 112-a planetary gear; 113-a bearing cap; 114-right guide bar; 115-oil seal; 116-rolling bearings; 117-thrust bearing; 118-a rotating flywheel; 119-a position sensor; 120-right bearing; 121-right oil seal; 122-a torque sensor; 123-a steering sensor; 124-right bearing cap; 125-right box cover; 301-a helical axis; 302-a tyre block; 303-a guide groove; 304-mounting groove.
Detailed Description
The invention will be further elucidated with reference to the drawings and the specific embodiments.
FIG. 1a is a diameter-variable front wheel profile. As shown in fig. 1a, the variable wheel diameter mechanism of the present invention includes a hub unit 100, a drive shaft 200, and a tire unit 300. The hub part 100 is connected to the driving shaft 200 through a spline, and the cross section of the hub part 100 is a regular polygon structure, in the present invention, the hub part 100 is a regular hexagon structure. The tire component 300 includes a plurality of tire blocks 302 equally divided, the number of the tire blocks 302 corresponding to the number of sides of the hub component 100; the tire blocks 302 have an arc-shaped outer side and a mounting surface corresponding to the side of the hub part 100 on the inner side, and the tire blocks 302 are mounted on the corresponding side surfaces of the hub part 100, respectively, thereby forming a circular tire.
As shown in fig. 1b and fig. 6, guide grooves 303 are provided on both sides of the mounting surface of the tire block 302, an installation groove 304 is provided in the center of the mounting surface of the tire block 302, and the bottom end of the installation groove 304 is in a regular polygon structure; a threaded shaft 301 is installed in the installation groove, the bottom of the threaded shaft 301 is in a regular polyhedron structure corresponding to the bottom of the installation groove 304 in shape, and the threaded shaft 301 is matched and fixed with the tail end of the installation groove; in the present invention, the bottom of the threaded shaft 301 is in a hexahedral structure. As shown in fig. 1b, fig. 2a to 2b, and fig. 3a to 3b, left and right guide bars 101 and 114 corresponding to guide grooves 303 provided on both sides of the mounting surface of the tire block 302 are respectively mounted on both ends of the middle position of each side surface of the hub part 100; the left guide rod 101 and the right guide rod 114 are respectively matched with the guide grooves, and the tire block 302 is guided and limited by the left guide rod 101 and the right guide rod 114 and can only move up and down.
As shown in fig. 3a to 3b, the hub unit 100 includes a cover, a rotating flywheel 118, an electromagnetic clutch, a sun gear 111, a planetary gear 112, a torque sensor 122, and a steering sensor 123; the rotating flywheel 118, the sun gear 111, the torque sensor 122 and the steering sensor 123 are all mounted on the driving shaft 200; the sun gear 111 is slidably mounted on the driving shaft 200 through a spline; the rotating flywheel 118 is a regular polygon, and each side surface of the rotating flywheel 118 is provided with a unthreaded hole matched with the threaded shaft 301, as shown in fig. 4 a-4 b; the electromagnetic clutch is arranged between the fixed flywheel 118 and the sun gear 111 and comprises an electromagnetic clutch right part 105 and an electromagnetic clutch left part 106, the electromagnetic clutch right part 105 is fixed on the rotating flywheel 118, and the electromagnetic clutch left part 106 is fixed on the sun gear 111; in the present invention, a plurality of compression spring fixing rods 104 are installed on the side of the rotating flywheel 118 opposite to the sun gear 111, and compression springs 103 are installed on the compression spring fixing rods 104; a stopper is disposed on the driving shaft 200 at the outer side of the sun gear 111, the position of the sun gear 111 is restricted by the stopper and the compression spring fixing lever 104, and the outward movement of the sun gear 111 is realized by the elastic force of the compression spring 103, so that the sun gear 111 is separated from the planetary gear 112.
The cover includes a left cover 110 and a right cover 125; the driving shaft 200 is supported on the left box cover 110 and the right box cover 125 through a left bearing 108 and a right bearing 120 respectively, and is hermetically mounted with a left bearing cover 107, a left oil seal 109, a right bearing cover 124 and a right oil seal 121 respectively;
as shown in fig. 3a, the planet gear 112 is vertically installed on the side of the sun gear 111, and the distance between the teeth of the planet gear 112 and the teeth of the sun gear 111 is the same as the distance between the right electromagnetic clutch 105 and the left electromagnetic clutch 106; when the electromagnetic clutch right portion 105 and the electromagnetic clutch left portion 106 are engaged, the teeth of the sun gear 111 and the teeth of the planetary gears 112 are engaged with each other. A threaded hole matched with the threaded shaft 301 is formed in the center of the planetary gear 112, the planetary gear 112 is mounted on the side surface of the rotating flywheel 118 through a thrust bearing 117, and the threaded hole in the center of the planetary gear 112 corresponds to the unthreaded hole in the side surface of the rotating flywheel 118; in the present invention, the lead angle of the threaded shaft 301 is smaller than the equivalent friction angle of the threaded hole of the planetary gear 112. The planetary gear 112 is fixed between the left case cover 110 and the right case cover 125 by a rolling bearing 116, and is fixedly sealed with an oil seal 115 by a bearing cover 113.
The wheel diameter variable mechanism of the utility model is connected with the spraying machine walking control system; the right part 105 and the left part 106 of the electromagnetic clutch are both electrically connected with the sprayer traveling control system; the torque sensor 122 and the steering sensor 123 are both connected with the sprayer traveling control system.
The working principle of the utility model is as follows:
1) when the diameter of the tire is not changed in normal running, the driving shaft 200 transmits power to the rotating flywheel 118 through a spline, the rotating flywheel 118 transmits torque to the tire block 302 through the threaded shaft 301, and the wheel runs in a rolling mode; at this time, the sun gear 111 is not engaged with the planetary gears 112, the sun gear 111 idles on the driving shaft 200, and the planetary gears 112 are rotated only around the driving shaft 200 by the screw shaft 301.
2) When the sprayer is in forward slipping, the tire component 300 idles or the slipping rate is too high, the torque sensor 122 detects that the torque on the driving shaft 200 is too small, at this time, the right part 105 of the electromagnetic clutch is attracted with the left part 106 of the electromagnetic clutch according to the torque transmitted by the torque sensor 122, so that the sun gear 111 slides along the spline on the driving shaft 200 and is meshed with the planetary gear 112, the planetary gear 112 is driven to rotate around the threaded shaft 301 due to the rotation of the sun gear 111 driven by the driving shaft 200, the planetary gear 112 is axially limited by the thrust bearing 117 and the rolling bearing 116, and the threaded shaft 112 is internally provided with a threaded hole, so that the planetary gear 112 and the threaded shaft 301 form relative rotation, and the threaded shaft 301 is mutually fixed with the tire block 302, under the fixing action of the direction-accomplishing rod 101 and the right guide rod 114, the threaded shaft 301 can only move outwards along the axis of the planetary gear 112, so that the threaded shaft 301 is screwed out of the unthreaded hole on the side surface of the rotating flywheel 118, and the tire block 302 is driven to move outwards, thereby realizing the diameter reduction of the tire;
after the tire is subjected to diameter changing, when the sprayer normally runs, the torque sensor 122 detects that the torque on the driving shaft 200 is normal, at the moment, the right part 105 of the electromagnetic clutch is separated from the left part 106 of the electromagnetic clutch according to the torque transmitted by the torque sensor 122, and meanwhile, the sun gear 111 is under the action of the compression spring 103 and is separated from the planet gear 112, and the diameter changing is completed.
In the present invention, as shown in fig. 4a to 4b, a position sensor 119 is installed at the bottom of an unthreaded hole on the side of the rotating flywheel 118, the position sensor 119 senses the position of the threaded shaft 301 and transmits the sensed position to the controller, and when the diameter of the wheel reaches the upper and lower limit positions, the controller separates the right part 105 of the electromagnetic clutch from the left part 106 of the electromagnetic clutch according to the preset height range, thereby ensuring the safety and reliability of the mechanism; and the position change is prior to the torque change, namely no matter whether the wheel diameter of the spraying machine meets the requirement or not, as long as the height exceeds the normal range, the clutch stops attracting.
The steering sensor 123 is mounted on the driving shaft 200 and used for detecting forward and backward of the chassis, and the sprayer basically moves forward (does not work when moving backward) when slipping in the field, so that the tire needs to return to the initial position after diameter change, and the driving shaft 200 only needs to rotate reversely at the moment.
Fig. 7 is a work flow diagram. As shown in fig. 7, the working process of the wheel diameter variable mechanism of the present invention is as follows:
(1) the position height information of a tire-threaded shaft, the torque information of a driving shaft and the rotation direction information of the driving shaft are respectively sensed by a position sensor 119, a torque sensor 122 and a steering sensor 123 and are sent to the sprayer walking control system;
(2) the sprayer traveling control system judges whether the position of a tire-thread shaft is at a limit position, and if so, the existing wheel diameter is kept; if not, turning to the step (3);
(3) judging whether the driving shaft rotates positively, if so, turning to the step (4); if not, turning to the step (5);
(4) judging whether the torque of the driving shaft is normal, if so, controlling the electromagnetic clutch to separate by the sprayer traveling control system and keeping the existing wheel diameter; if not, the sprayer traveling control system controls the electromagnetic clutch to be attracted, the planetary gear rotates forwards, the tire block is driven to move through the threaded shaft, and the wheel diameter is increased;
(5) judging whether the sprayer traveling control system displays diameter change or not, if so, controlling the electromagnetic clutch to be attracted by the sprayer traveling control system, reversely rotating the planetary gear, driving the tire block to move through the threaded shaft, and reducing the wheel diameter; if not, the sprayer traveling control system controls the electromagnetic clutch to separate and keeps the existing wheel diameter.
The above detailed description describes the preferred embodiments of the present invention, but the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be implemented with various equivalent transformations (such as quantity, shape, position, etc.), which all belong to the protection of the present invention.
Claims (9)
1. A variable wheel diameter mechanism is characterized in that: comprises a hub part (100), a driving shaft (200) and a tire part (300);
the hub part (100) is installed on the driving shaft (200), and the cross section of the hub part (100) is of a regular polygon structure; the tyre part (300) comprises a plurality of equally divided tyre blocks (302), the number of the tyre blocks (302) corresponds to the number of sides of the hub part (100); the outer side of each tire block (302) is of an arc structure, the inner side of each tire block is a mounting surface corresponding to the side surface of the hub part (100), and the tire blocks (302) are respectively mounted on the corresponding side surfaces of the hub part (100) to form a circular tire;
a guide groove (303) is formed in the mounting surface of the tire block (302), a mounting groove (304) is formed in the center of the mounting surface of the tire block (302), and a threaded shaft (301) is fixedly mounted in the mounting groove; a guide rod corresponding to a guide groove (303) arranged on the mounting surface of the tire block (302) is arranged at the middle position of each side surface of the hub part (100); the guide rod and the guide groove (303) are matched and mounted with each other;
the hub part (100) comprises a rotating flywheel (118), an electromagnetic clutch, a sun gear (111), a planetary gear (112) and a torque sensor (122); the rotating flywheel (118), the sun gear (111) and the torque sensor (122) are all arranged on the driving shaft (200); the sun gear (111) is slidably mounted outside the rotating flywheel (118); the rotary flywheel (118) is a regular polygon, and each side surface of the rotary flywheel (118) is provided with a unthreaded hole matched with the threaded shaft (301); the electromagnetic clutch is mounted between the rotating flywheel (118) and the sun gear (111), and comprises an electromagnetic clutch right part (105) and an electromagnetic clutch left part (106); the right part (105) of the electromagnetic clutch is fixed on the rotating flywheel (118), and the left part (106) of the electromagnetic clutch is fixed on the sun gear (111);
the planet gear (112) is vertically installed on the side surface of the sun gear (111), and the distance between the teeth of the planet gear (112) and the teeth of the sun gear (111) is consistent with the distance between the right part (105) of the electromagnetic clutch and the left part (106) of the electromagnetic clutch; the teeth of the sun gear (111) and the teeth of the planet gears (112) are meshed with each other when the electromagnetic clutch right part (105) and the electromagnetic clutch left part (106) are engaged; a threaded hole matched with the threaded shaft (301) is formed in the center of the planetary gear (112), the planetary gear (112) is installed on the side face of the rotating flywheel (118) through a thrust bearing (117), and the threaded hole in the center of the planetary gear corresponds to the unthreaded hole in the side face of the rotating flywheel (118).
2. The variable wheel diameter mechanism according to claim 1, wherein: a plurality of compression spring fixing rods (104) are arranged on the side surface of the rotating flywheel (118) opposite to the sun gear (111), and compression springs (103) are arranged on the compression spring fixing rods (104); a limiting block is arranged on the driving shaft (200) and positioned on the outer side of the sun gear (111), and the position of the sun gear (111) is limited by the limiting block and the compression spring fixing rod (104); the sun gear (111) slides outwards through the elastic force of the compression spring (103).
3. The variable wheel diameter mechanism according to claim 1, wherein: the rotating flywheel (118) is of a regular hexagon structure, and the number of the tire blocks (302) is 6.
4. The variable wheel diameter mechanism according to claim 1, wherein: a mounting groove (304) is formed in the center of the mounting surface of the tire block (302), and the bottom end of the mounting groove (304) is of a regular polygon structure; the bottom of the threaded shaft (301) is in a regular polyhedron structure corresponding to the bottom of the mounting groove (304) in shape, and the bottom of the threaded shaft is matched and fixed with the tail end of the mounting groove (304).
5. The variable wheel diameter mechanism according to claim 1, wherein: guide grooves (303) are formed in two sides of the mounting surface of the tire block (302), and a left guide rod (101) and a right guide rod (114) corresponding to the guide grooves (303) formed in the two sides of the mounting surface of the tire block (302) are respectively mounted at two ends of the middle position of each side surface of the hub part (100); the left guide rod (101) and the right guide rod (114) are respectively matched with the guide groove (303) for installation.
6. The variable wheel diameter mechanism according to claim 1, wherein: the hub part (100) further comprises a cover comprising a left cover (110) and a right cover (125); the driving shaft (200) is supported on the left box cover (110) and the right box cover (125) through a left bearing (108) and a right bearing (120) respectively, and is hermetically mounted with the left bearing cover (107), the left oil seal (109), the right bearing cover (124) and the right oil seal (121) respectively.
7. The variable wheel diameter mechanism according to claim 1, wherein: the thread lead angle of the threaded shaft (301) is smaller than the equivalent friction angle of the threaded hole of the planetary gear (112).
8. The variable wheel diameter mechanism according to claim 6, wherein: the planetary gear (112) is fixed between the left box cover (110) and the right box cover (125) through a rolling bearing (116), and is fixedly sealed with an oil seal (115) through a bearing cover (113).
9. The variable wheel diameter mechanism according to claim 1, wherein: and a steering sensor (123) for detecting the forward or backward movement of the variable wheel diameter mechanism is also arranged on the driving shaft (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920937966.6U CN210478282U (en) | 2019-06-21 | 2019-06-21 | Wheel diameter variable mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920937966.6U CN210478282U (en) | 2019-06-21 | 2019-06-21 | Wheel diameter variable mechanism |
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| Publication Number | Publication Date |
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| CN210478282U true CN210478282U (en) | 2020-05-08 |
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ID=70514267
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920937966.6U Active CN210478282U (en) | 2019-06-21 | 2019-06-21 | Wheel diameter variable mechanism |
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| CN (1) | CN210478282U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN114312132A (en) * | 2021-12-31 | 2022-04-12 | 北京航空航天大学 | Spiral transmission mechanism suitable for diameter-variable wheel |
| CN116296269A (en) * | 2023-02-06 | 2023-06-23 | 梁帅成 | Real-time monitoring equipment and monitoring method for optical cable state of power distribution network |
-
2019
- 2019-06-21 CN CN201920937966.6U patent/CN210478282U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN110370863B (en) * | 2019-06-21 | 2024-04-05 | 农业农村部南京农业机械化研究所 | Variable wheel diameter mechanism |
| CN114312132A (en) * | 2021-12-31 | 2022-04-12 | 北京航空航天大学 | Spiral transmission mechanism suitable for diameter-variable wheel |
| CN114312132B (en) * | 2021-12-31 | 2023-05-16 | 北京航空航天大学 | Screw drive mechanism suitable for variable diameter wheel |
| CN116296269A (en) * | 2023-02-06 | 2023-06-23 | 梁帅成 | Real-time monitoring equipment and monitoring method for optical cable state of power distribution network |
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