CN104691642B - A kind of leggy connecting rod actuation - Google Patents
A kind of leggy connecting rod actuation Download PDFInfo
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- CN104691642B CN104691642B CN201510125654.1A CN201510125654A CN104691642B CN 104691642 B CN104691642 B CN 104691642B CN 201510125654 A CN201510125654 A CN 201510125654A CN 104691642 B CN104691642 B CN 104691642B
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- connecting rod
- steamboat
- road wheel
- obstacle detouring
- thin plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The present invention relates to a kind of leggy connecting rod actuation, including road wheel, obstacle detouring connecting rod, steamboat and be connected to the thin plate connecting rod on steamboat；It is respectively equipped with location hole on road wheel and obstacle detouring connecting rod, by location hole, road wheel is connected together with obstacle detouring connecting rod by active pin shaft；One steamboat is provided with each road wheel, steamboat is completely fixed with respect to corresponding road wheel, steamboat and the not concyclic heart of corresponding road wheel, and steamboat covers the center of circle of road wheel；Line shaft is located on the center of circle of road wheel；The center of circle of steamboat to road wheel axial connecting line and connecting rod location hole to road wheel axial connecting line angle, that is, two lines can not overlap；Have some circular grooves on thin plate connecting rod, and thin plate connecting rod is made on steamboat by circular groove, the diameter of circular groove should be slightly larger than the diameter of steamboat, steamboat is embedded in circular groove, and steamboat can be freely rotatable in circular groove, and thin plate connecting rod is followed steamboat and rotated around line shaft together.This mechanism controls is simple, walking mechanism succinct, can have significant advantage with effectively solving " singular point " problem with respect to other walking mechanisms.
Description
Technical field
The present invention relates to a kind of driving means, particularly to a kind of leggy connecting rod actuation.
Background technology
Barrier getting over mechanism is the important component part in mobile robot field, has a wide range of applications in actual life.With
The events such as natural disaster, forest fire, nuclear accident, earthquake rescue take place frequently and the exploration to tera incognita for the mankind increasing
Long, the mankind are highly desirable to perceive these environment, to reach gather information, to alleviate the purposes such as disaster, the rescue wounded.It is thus desirable to one
Kind of barrier getting over mechanism solves this problem helping people to go.At present, the barrier getting over mechanism being used mainly has wheeled, crawler type, lower limb
, in use, in these obstacle detouring structures, all there is certain weak point in the structures such as formula, hybrid, link-type：Wherein carry out
Band has that ground pressure is little, and in soft ground abhesion capacity and good by performance, stair climbing, obstacle detouring stationarity are high, but not
It is avoided that the costs such as crawler belt, power consumption height and the destruction to landform of heaviness；Lower limb formula barrier getting over mechanism can be under non-regular landform
Walk well, but its degree of freedom is excessive, paid the costs such as sport efficiency is too low, control is more complicated；Hybrid barrier getting over mechanism
The advantage comprehensively employing various mechanisms, adapts it to various landform as far as possible, but complicated in mechanical structure, control difficulty larger,
Efficiency is poor.Wheeled construction has the characteristics that its own, has that load-bearing is big, mechanism simple, drive and control relatively convenient, walking speed
Degree is fast, high working efficiency the features such as, but its obstacle detouring effect be not so good as above described several.Link-type is relatively above several
Obstacle detouring effect preferably, but because its mechanism itself has " singular point " problem, when link motion is to horizontal level, is easy to send out
Raw stuck phenomenon, causes mechanism cannot normally advance.
Existing link mechanism general in the form of single straight-bar, generally existing " singular point " problem：When straight-bar motion
During in the axle center hole same horizontal line with wheel, it is 0 that the connecting rod that front and rear wheel is connected drives making a concerted effort between two points of point, that
This no active force, can neither travel forward at drive link two ends simultaneously, nor drives its rearward movement simultaneously, i.e. connecting rod both sides
Cannot advance to same orientation, showing of connecting rod dislocation (downwards, upwards, connecting rod being stuck between two-wheeled the other end for one end) easily occurs
As causing wheel cannot normally advance.
Analysis principles above understand, if when straight-bar move to the axle center hole same horizontal line of wheel on when, if also depositing
One or more not the connecting rod on this horizontal line road wheel can be driven to move on or retreat, now with wheel axle center hole
That root connecting rod in the same horizontal line then being rotated further due to wheel, and with wheel continue to same orientation advance,
So avoiding connecting rod to misplace.Therefore, " singular point " problem can be solved by installing the connecting rods covering out of phase more.
If but directly in the outside of wheel, leggy connecting rod is installed, two or many connecting rods will necessarily be caused in motor process
In mutually collide, and move the problem of interference；If being directly respectively mounted leggy connecting rod in the inside and outside both sides of wheel,
The connecting rod being arranged on inner side will necessarily exist in motor process and mutually collides with line shaft, and moves the problem of interference.
Content of the invention
In view of this, it is an object of the invention to provide a kind of leggy connecting rod actuation, this mechanism can overcome
Existing barrier getting over mechanism can not take into account the obstacle detouring energy under the stability of regular landform walking mechanism, balance and non-regular landform
The problem of power, and can be with effectively solving " singular point " problem；Can be moved with wheeled mode high efficiency on flat ground, and
Effectively obstacle can be passed through by leggy connection-rod linkage in non-regular landform, solve asking of link mechanism movement interference
Topic.
For reaching above-mentioned purpose, the present invention provides following technical scheme：
A kind of leggy connecting rod actuation, including road wheel (3), obstacle detouring connecting rod (1), steamboat (4) and be connected to
Thin plate connecting rod (2) on steamboat (4)；
It is respectively equipped with location hole on the number at least two of described road wheel (3), road wheel (3) and obstacle detouring connecting rod (1)
(6), road wheel (3) is connected together with obstacle detouring connecting rod (1) by location hole (6) by active pin shaft；Each road wheel (3) is upper to pacify
Equipped with a steamboat (4), steamboat (4) is completely fixed (can be a simple frustum cone structure) with respect to corresponding road wheel, little
Wheel (4) and the not concyclic heart of corresponding road wheel (3), and steamboat (4) covers the center of circle of road wheel (3)；
Line shaft is located on the center of circle of road wheel (3), because description above understands, line shaft is by steamboat (4) not
On the center of circle of steamboat (4), that is, line shaft passes through drive hole (5) to be located at the bias of steamboat (4) and the center of circle of road wheel (3)；Little
The axial connecting line angle of axial connecting line and the connecting rod location hole (6) of road wheel (3) to road wheel (3) is arrived in the center of circle of wheel (4)
In the range of (0, π) that is to say, that：The axial connecting line of the center of circle of hypothesis steamboat (4) to road wheel (3) is l1, connecting rod location hole
(6) axial connecting line arriving road wheel (3) is l2, in fixing steamboat (4) and road wheel (3), l should be made1And l2Angle exists
In the range of (0, π), that is, two lines can not overlap；
Have some circular grooves on described thin plate connecting rod (2), and thin plate connecting rod (2) made on steamboat (4) by circular groove,
The diameter of circular groove should be slightly larger than the diameter of steamboat (4), and steamboat (4) is embedded in circular groove, and steamboat can be freely rotatable in circular groove,
Thin plate connecting rod (2) is followed steamboat (4) and is rotated around line shaft together；Road wheel (3) and steamboat (4) are fixed together, and all with dynamic
Power axle is connected, and when steamboat (4) rotates, road wheel (3) also can do wheeled rotation around the axle center hole of circle centre position.
Further, location hole (6) position on described road wheel (3) is positioned as close to the edge in wheel, and each
The distance that the location hole (6) of wheel arrives respective centre point is consistent.
Further, the axial connecting line of the center of circle of steamboat (4) to road wheel (3) arrives road wheel (3) with connecting rod location hole (6)
Axial connecting line angle is pi/2.
Further, the material of described obstacle detouring connecting rod (1) and thin plate connecting rod (2) is metal, wooden or organic polymer gathers
Compound；Obstacle detouring connecting rod (1) bottom scribbles anti-slip material, and anti-slip material can be rubber etc., and its effect is when obstacle detouring connecting rod (1) is taken
During on barrier, prevent rod slide.
The beneficial effects of the present invention is：Compared with prior art, the present invention is directed to the " unusual of single connecting rod generally existing
Point " problem, is driven with leggy connecting rod, reaches the purpose of dynamic equilibrium in driving process.Efficiently solve link-type Stump-jump wheel
" singular point " and movement interference problem.Rely on leggy connecting rod to drive, run into during barrier obstacle detouring connecting rod and thin plate connecting rod it
Between can automatically switch, support whole body, without the Detection ＆ Controling of control system, there is very high reliability and succinct
Property；Obstacle detouring process more high efficient and reliable, has taken into account wheeled and obstacle climbing ability under regular and non-regular landform for the eccentric type structure
With the problem of sport efficiency, and frame for movement is fairly simple, and movement velocity is fast, controls fairly simple, is easier to realize,
Under regular landform sport efficiency higher and under non-regular landform obstacle detouring effect preferable.This invention efficiency high, energy consumption are low, application
Scope is wide, is widely used in the equipment being operated in special environment, such as obstacle detouring mobile robot, Disaster Relief Robot, deliverance apparatus
Deng.
Brief description
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below to carry out
Explanation：
Fig. 1 is the three-dimensional structure diagram of the present invention；
Fig. 2 is the external view of the present invention；
Fig. 3 is the explosive view of present configuration；
Schematic diagram in a flash when Fig. 4 advances under level terrain for the present invention；
Fig. 5 be the present invention non-regular landform descending enter process schematic；
Wherein：1- obstacle detouring connecting rod；2- thin plate connecting rod；3- road wheel；4- steamboat；5- drive hole；6- location hole.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is the three-dimensional structure diagram of the present invention, for convenience of description, only provides part related to the present invention.
A kind of leggy connecting rod actuation, in the present embodiment, taking n=2 (two road wheels in every side) as a example, including
Road wheel (3-1) and road wheel (3-2) and be connected to obstacle detouring connecting rod (1) on road wheel (3), obstacle detouring connecting rod (1) is upper respectively
It is provided with location hole (6-1) and location hole (6-2), location hole (6) is passed through by road wheel (3) and obstacle detouring connecting rod (1) by active pin shaft
Connect together, the location hole (6) on road wheel (3) is close to the position of the circumference of wheel.Power is passed through in the axle center of road wheel (3)
The drive hole (5) of axle and steamboat (4) links together, and steamboat (4) is embedded in thin plate connecting rod (2), and thin plate connecting rod (2) is with little
Wheel (4) rotates together.Each road wheel (3) and steamboat (4) are driven by a drive shaft, obstacle detouring connecting rod (1) and thin plate connecting rod (2)
On scribble anti-slip material, to take on barrier, and anti-sliding stop.Obstacle detouring connecting rod (1) and thin plate connecting rod (2) can be gold
Belong to, any material enabling this function such as wooden or organic high molecular polymer.The walking mechanism of this barrier getting over mechanism belongs to
Parallel institution, is driven by line shaft, and obstacle detouring connecting rod (1) and thin plate connecting rod (2) are because of the physical connection with wheel passively
Moved with driving wheel.
In order that the effect of the present invention reaches optimization, l should be made1With l2Line angle is 90 °, motion afterwards
During, obstacle detouring connecting rod (1) and thin plate connecting rod (2) can remain 90 ° of phase contrast.
Said structure efficiently solves " singular point " problem of link-type Stump-jump wheel, it is described below how realizing " singular point "
The solution of problem：
Thin plate connecting rod (2) and obstacle detouring connecting rod (1) are all rigid structures, will not produce flexible extruding as elastic construction
Phenomenon, because the axle center that " singular point " phenomenon only occurs in obstacle detouring connecting rod (1) and road wheel (3) is in the shape of same horizontal line
Under state, therefore in addition to this state point, under other any kinestates, the point that connecting rod location hole (6) is located is each other all
There is interaction force, obstacle detouring connecting rod (1) can be ordered about and continue to rotate forward or backward, i.e. equidirectional motion all the time, therefore will not occur
" singular point " problem during connecting rod dislocation (other end backward, does not move in the same direction forward for one end)；Likewise, thin plate connecting rod (2)
Can also treat as above-mentioned situation and process.
When obstacle detouring connecting rod (1) is turned to and is in same horizontal line with the axle center hole line of road wheel (3), due to steamboat
(4) motion of the obstacle detouring connecting rod (1) that the thin plate connecting rod (2) being located and road wheel (3) are located remains certain phase contrast, and
The motion of all road wheels (3) and steamboat (4) is all that (i.e. under not having External force interference, the eccentric point of each wheel exists homophase
Any instant relative to for the axle center of each wheel all in same position), if original state just sets l1With l2Folder
Angle, in motor process afterwards, obstacle detouring connecting rod (1) and thin plate connecting rod (2) can remain that this angular phase is poor.Because limiting
The span of this phase contrast is (0, π), thus obstacle detouring connecting rod (1) and thin plate connecting rod (2) will not move to all the time same
State point.Thus, when obstacle detouring connecting rod (1) is on the horizontal line at road wheel (3) axle center place, thin plate connecting rod (2) should move
The relevant position that the phase contrast remaining to it is located, and the rigid structure of thin plate connecting rod (2) determines it in this case
May proceed to around line shaft simultaneous movements, and the continuation campaign with thin plate connecting rod (2), obstacle detouring connecting rod (1) also may proceed to move, with
Afterwards when obstacle detouring connecting rod (or thin plate connecting rod) is moved to and is in same horizontal line with drive shaft axial connecting line, always it is subject to thin
The driving effect of plate connecting rod (or obstacle detouring connecting rod), thus avoid connecting rod extremely incident under this level point " singular point " ask
Topic.The present invention is equivalent to and with the addition of a restrained condition, i.e. double link on the basis of original single straight-bar.Obstacle detouring connecting rod positions
The point that hole (6) is located and the AnchorPoint of steamboat (4), constitute the geometrical-restriction relation in a space.Thus this leggy connecting rod
Actuation defines the state that obstacle detouring connecting rod (1) is constrained two-by-two with thin plate connecting rod (2), and connecting rod dislocation also would not occur
Phenomenon, thus solve " singular point " problem of single straight-bar mechanism.
In order to the work process of this barrier getting over mechanism is described, define two kinds of traveling modes in the present embodiment：Under level terrain
Advance (in-wheel driving travelings) and non-regular landform descending enter (wheel and connection-rod linkage traveling).Simultaneously as obstacle detouring connecting rod and thin
Ground will not be contacted when plate connecting rod travels on level land, thus the rotation of two connecting rods not affect the normal traveling of this mechanism all the time,
On the contrary, also impetus can be produced to body.
When advancing under level terrain, the walking manner of road wheel (3) is circle wheel shape, wheel efficiency and the wheel with same diameter
Son is similar to as walking mechanism.Steamboat (4), thin plate connecting rod (2) and obstacle detouring connecting rod (1) simply do eccentric turning around line shaft
Dynamic, do not affect normally to advance.
As shown in figure 4, due to line shaft drive wheel rotate forward, obstacle detouring connecting rod (1) be physical connection passively with
Driving wheel is moved, and therefore in the case of unencumbered, this barrier getting over mechanism is equivalent to wheel on ground under level terrain
Upper motion.Because its center of gravity remains constant, therefore in whole walking process, total energy keeps static stability.
Non- regular landform descending enter when, this barrier getting over mechanism is mainly and relies on active obstacle detouring pattern switching completing.Work as obstacle detouring
When connecting rod touches barrier, there are two kinds of possible situations：
A is as shown in figure 5, when obstacle detouring connecting rod (1) rides on barrier just, the continuation with line shaft drives, due to taking
Obstacle detouring connecting rod on barrier plays the effect supporting whole fuselage, and the road wheel (3-1) near barrier will be with obstacle detouring
Location hole (6-1) on connecting rod is fulcrum, rotates around this point, another road wheel also can rotate accordingly；And obstacle detouring is even
Bar (1) then can drive to decentralization with the continuation of wheel, until tail end contacts ground, is that the obstacle detouring of next step is prepared, such as Fig. 5
Shown in (a) and (b).Then, near barrier wheel (3-1) around wheel and obstacle detouring connecting rod (1) junction location hole (6-
1) rotate for fulcrum, supporter at this moment is obstacle detouring connecting rod (1).Then the driving with line shaft moves on other wheels,
Body is lifted up.Now, front-wheel (3-1) has passed over barrier.If the road surface after front-wheel clears the jumps is sufficiently wide
Spacious.As shown in Fig. 5 (c)；Then, the continuation with line shaft drives, and thin plate connecting rod (2) will ride on barrier, and obstacle detouring is even
The driving and setting in motion with line shaft understood by bar (1), and now, support whole fuselage is thin plate connecting rod (2).As Fig. 5 (d) institute
Show；Due to the supporting role of thin plate connecting rod (2), line shaft continues to drive wheel rotation, until obstacle detouring connecting rod (1) rides over barrier again
Hinder on thing, as supporter.Whole body is driven to travel forward.As shown in Fig. 5 (e)；Finally, the continuation with line shaft turns
Dynamic, thin plate connecting rod (2) can ride on barrier again, as supporter, so that trailing wheel (3-2) is rotated around location hole (6-2)
Clear the jumps, and fuselage is lifted up.Now, whole body surmounts obstacles safely.As shown in Fig. 5 (f).
B, obstacle detouring connecting rod prop up barrier or when wheel first encounters barrier, and the now continuation with line shaft drives, more
Barrier connecting rod federation moves to that state when riding on barrier.Obstacle Negotiation process afterwards is as described in situation A.
Fig. 2 is the external view of the present invention, and Fig. 3 is the explosive view of present configuration, the leggy that the present embodiment provides
Connecting rod actuation, structure is simple, small volume, lightweight, need not again plus remaining power set control simple and easily
Realize, be wheeled advance under regular landform, sport efficiency is higher, when non-regular landform descending walk when, can actively switch to
Connecting rod drives and advances, and connecting rod is taken on barrier, at this moment travelling forward with wheel, and the wheel (3-1) of close barrier is just
Can rotate around this point, by the supporting role of obstacle detouring connecting rod (1), surmount obstacles with the location hole (6-1) on wheel as fulcrum
Thing.When front-wheel (3-1) has passed over obstacle, trailing wheel is not also more out-of-date, then with the rotation forward of wheel, thin plate connecting rod (2)
Can ride on barrier, support whole body to travel forward, line shaft continues to drive, until obstacle detouring connecting rod (1) rides over barrier again
Hinder on thing, now, wheel (3-2) below, just with the location hole (6-2) on wheel as fulcrum, rotates around this point, makes whole
Fuselage is lifted up, thus rotating over barrier.Compared with other connecting rod Stump-jump wheels, sport efficiency is higher, and effectively solves
Certainly " singular point " problem and movement interference problem, obstacle climbing ability is preferable.According to concrete landform and conditions of demand, the quantity of wheel
Multiple walking mechanisms can also be combined into the construction of thin plate connecting rod.
Finally illustrate, preferred embodiment above only in order to technical scheme to be described and unrestricted, although logical
Cross above preferred embodiment the present invention to be described in detail, it is to be understood by those skilled in the art that can be
In form and various changes are made to it, without departing from claims of the present invention limited range in details.
Claims (2)
1. a kind of leggy connecting rod actuation it is characterised in that：Including road wheel (3), obstacle detouring connecting rod (1), steamboat (4) with
And it is connected to the thin plate connecting rod (2) on steamboat (4)；
It is respectively equipped with location hole (6) on the number at least two of described road wheel (3), road wheel (3) and obstacle detouring connecting rod (1),
Road wheel (3) is connected together with obstacle detouring connecting rod (1) by location hole (6) by active pin shaft；Each road wheel is provided with (3)
One steamboat (4), steamboat (4) is completely fixed with respect to corresponding road wheel, and steamboat (4) and corresponding road wheel (3) be not concyclic
The heart, and steamboat (4) covers the center of circle of road wheel (3)；
Line shaft is located on the center of circle of road wheel (3)；The axial connecting line of the center of circle of steamboat (4) to road wheel (3) is positioned with connecting rod
The axial connecting line angle of road wheel (3) is arrived in the range of (0, π) in hole (6), and that is, two lines can not overlap；
Have some circular grooves on described thin plate connecting rod (2), and thin plate connecting rod (2) is made on steamboat (4) by circular groove, circular groove
Diameter should be slightly larger than the diameter of steamboat (4), steamboat (4) be embedded in circular groove, and steamboat can be freely rotatable in circular groove, thin plate
Connecting rod (2) is followed steamboat (4) and is rotated around line shaft together；
Location hole (6) position on described road wheel (3) is positioned as close to the edge in wheel, and the location hole of each wheel
(6) distance arriving respective centre point is consistent；
Axial connecting line and the connecting rod location hole (6) of the center of circle of steamboat (4) to road wheel (3) arrive the axial connecting line institute of road wheel (3)
Angle is become to be pi/2.
2. a kind of leggy connecting rod actuation according to claim 1 it is characterised in that：Described obstacle detouring connecting rod
(1) and thin plate connecting rod (2) material be metal, wooden or organic high molecular polymer；Obstacle detouring connecting rod (1) bottom scribbles ribband
Material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125654.1A CN104691642B (en) | 2015-03-20 | 2015-03-20 | A kind of leggy connecting rod actuation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125654.1A CN104691642B (en) | 2015-03-20 | 2015-03-20 | A kind of leggy connecting rod actuation |
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| Publication Number | Publication Date |
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| CN104691642A CN104691642A (en) | 2015-06-10 |
| CN104691642B true CN104691642B (en) | 2017-03-08 |
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| CN201510125654.1A Active CN104691642B (en) | 2015-03-20 | 2015-03-20 | A kind of leggy connecting rod actuation |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080728B (en) * | 2018-06-13 | 2023-08-01 | 西南大学 | Connecting rod foot type mobile robot |
| CN109008826B (en) * | 2018-09-10 | 2024-04-30 | 美智纵横科技有限责任公司 | Sweeping robot and walking assembly thereof |
| CN114872809B (en) * | 2022-05-24 | 2023-02-28 | 深圳市乐惠光电科技有限公司 | Obstacle-crossing self-walking chassis and self-walking equipment |
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| CN102248970A (en) * | 2011-06-27 | 2011-11-23 | 哈尔滨工程大学 | Main arm stretching configuration variable obstacle crossing mechanism |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN103600785A (en) * | 2013-11-18 | 2014-02-26 | 西南大学 | Wheeled dive mechanism capable of climbing continuous steps |
| CN103860109A (en) * | 2012-12-17 | 2014-06-18 | 德国福维克控股公司 | Device for overcoming an obstruction in traveling route |
| CN204488998U (en) * | 2015-03-20 | 2015-07-22 | 西南大学 | A kind of leggy link wheel driver train |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56138069A (en) * | 1980-03-28 | 1981-10-28 | Toshiba Corp | Mobile vehicle |
| JPS61275069A (en) * | 1985-05-31 | 1986-12-05 | Toshiba Corp | Traveling vehicle |
| CN102248970A (en) * | 2011-06-27 | 2011-11-23 | 哈尔滨工程大学 | Main arm stretching configuration variable obstacle crossing mechanism |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN103860109A (en) * | 2012-12-17 | 2014-06-18 | 德国福维克控股公司 | Device for overcoming an obstruction in traveling route |
| CN103600785A (en) * | 2013-11-18 | 2014-02-26 | 西南大学 | Wheeled dive mechanism capable of climbing continuous steps |
| CN204488998U (en) * | 2015-03-20 | 2015-07-22 | 西南大学 | A kind of leggy link wheel driver train |
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| Publication number | Publication date |
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| CN104691642A (en) | 2015-06-10 |
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