CN105864383A - Self-adaptive obstacle crossing mechanism - Google Patents

Self-adaptive obstacle crossing mechanism Download PDF

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Publication number
CN105864383A
CN105864383A CN201610297759.XA CN201610297759A CN105864383A CN 105864383 A CN105864383 A CN 105864383A CN 201610297759 A CN201610297759 A CN 201610297759A CN 105864383 A CN105864383 A CN 105864383A
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getting over
over mechanism
barrier getting
planet
carrier
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CN201610297759.XA
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CN105864383B (en
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洪日
陈晋市
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Jilin University
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Jilin University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a self-adaptive obstacle crossing mechanism which comprises a drive motor, an inner planet carrier, a sun gear, planet gears, center chain wheels, a plurality of planet chain wheels, a chain and advancing wheels, wherein the inner planet carrier is composed of at least two support legs which extend outward; the sun gear and the planet gears are arranged on one side surface, facing the drive motor, of the inner planet carrier; the center chain wheels and a plurality of planet chain wheels are arranged on the other side surface of the inner planet carrier; the sun gear is rotationally fixed to the inner planet carrier through a first shaft and is connected with a motor output shaft; the planet gears are rotationally fixed to the inner planet carrier through second shafts respectively and are also meshed with the sun gear; the center chain wheels are fixed to the second shafts respectively and rotate with the planet gears together; a plurality of planet chain wheels are rotationally arranged at the outer ends of the support legs in a one-to-one correspondence manner; the chain is simultaneously meshed with the center chain wheels and a plurality of planet chain wheels; the advancing wheels are coaxially fixed with a plurality of planet chain wheels respectively and rotate with a plurality of planet chain wheels together. The self-adaptive obstacle crossing mechanism regulates the torque of the drive motor to ensure successful obstacle crossing of an obstacle crossing robot according to different obstacle crossing conditions.

Description

A kind of self adaptation barrier getting over mechanism
Technical field
The present invention relates to obstacle detouring frame for movement.It is more particularly related to a kind of self adaptation planetary gear It it is barrier getting over mechanism.
Background technology
The research of crossing obstacle automatically mechanism is more now, mainly includes following two type: one is that crawler type is got over Barrier mechanism, has a preferable road surface handling capacity, but has that weight is big, structure is complicated, bulky Etc. shortcoming, when on the other hand crossing the bigger barrier of the gradient again, easily occur overturning.Two is three horn rings Formula barrier getting over mechanism, has advantage easy to use, but it is complicated to there is structure, relate to field wide, cost Control difficulty, automatic discrimination is not sufficiently stable, the transmission of power and energy utilize insufficient, required merit Rate is big, the loss shortcoming such as heavily.Therefore, the most urgent to one simply and effectively drive mechanism demand.
Summary of the invention
It is an object of the present invention to provide a kind of self adaptation barrier getting over mechanism, by motor-driven triangle planetary gear frenulum Having moved advance, when barrier getting over mechanism runs into obstacle, travel wheel is switched to around triangle planet circular system public by rotation Turn, thus obstacle detouring smoothly.
It is a still further object of the present invention to provide a kind of self adaptation barrier getting over mechanism, controller is got over according to different Barrier moment adjusts the output moment of torsion driving motor, solves planet circular system because of the obstacle detouring skidded or stall causes Mechanism's obstacle detouring failure.
In order to realize according to object of the present invention and further advantage, it is provided that self adaptation barrier getting over mechanism, Including:
Drive motor, including motor output shaft；
Expert's carrier, it includes at least two outward extending legs, and towards described driving motor Central gear and planetary gear are set on side, another side arranges center sprocket wheel and multiple planet sprocket； And
Described central gear, it passes through, and the first axle is rotatable to be fixed in described expert's carrier, described motor Output shaft connects described central gear；
Described planetary gear, it is fixed in described expert's carrier by the second axle is rotatable, and and institute State central gear engagement；
Described center sprocket wheel, it is fixed on described second axle, described center sprocket wheel and described planetary gear Common rotation；
The plurality of planet sprocket, it is rotatably arranged on the outer end of described leg one to one；
Chain, it is simultaneously engaged with described center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed with the plurality of planet sprocket respectively, and and the plurality of planet chain Wheel is common to be rotated.
Preferably, also including: torque sensor, it is arranged on driving motor output shaft, described torsion The moment of torsion of square sensor measurement motor；Controller, it connects torque sensor and drives motor, described control Device processed receives the signal of torque sensor, and controls to drive the output of motor.
Preferably, when described barrier getting over mechanism runs into obstacle travel wheel with ground skidding, for ensureing obstacle detouring machine Structure revolution obstacle detouring, controller controls the real-time torque T ' of motor and meets:
T ′ > 2.7312 × a r c s i n θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × s i n θ ] × R η - - - ( 1 )
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gear ratio, and η is the machinery of barrier getting over mechanism Efficiency；M is the quality of barrier getting over mechanism, and f is the coefficient of kinetic friction of barrier getting over mechanism and ground, and R is obstacle detouring machine The radius of turn of structure.
Preferably, described barrier getting over mechanism runs into obstacle and takes turns and do not have relative motion with ground, for ensureing more Barrier mechanism revolution obstacle detouring, controller controls the real-time torque T ' of motor and meets；
T ′ = 2.7312 × a r c s i n θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × ( s i n θ ) 2 ] × R η - - - ( 2 )
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gear ratio, and η is the machinery of barrier getting over mechanism Efficiency；M is the quality of barrier getting over mechanism, and f is the coefficient of kinetic friction of barrier getting over mechanism and ground, and R is obstacle detouring machine The radius of turn of structure.
Preferably, described barrier getting over mechanism is when advancing in level land, and travel wheel rotation drives barrier getting over mechanism to advance.
Preferably, described planetary quantity is three, described central gear and three described planets Gear engages, and described three described planetary gears arrange into equilateral triangular shape.
Preferably, also including layman's carrier, described expert's carrier is identical with layman's carrier shape, described Center sprocket wheel, planet sprocket and chain described in space between expert's carrier and layman's carrier.
Preferably, also including planetary gear cover plate, itself and central gear homonymy are also fixedly mounted on expert In carrier, the space between described planetary gear cover plate and described expert's carrier is used for accommodating described sun tooth Wheel and described planetary gear.
Preferably, described expert's carrier has three overhanging legs, the quantity of described planet sprocket Being three, the line of centres of three described planet sprockets forms equilateral triangle.
Preferably, described planet sprocket is engaged in the inner side of described chain, the outside engagement institute of described chain State center sprocket wheel.
The present invention at least includes following beneficial effect: 1, in the course of the work can the reality of mechanical self-adaptability Conversion between existing travel wheel rotation and planet carrier revolution, makes mechanism have self adaptation obstacle climbing ability, structure Simple and efficiency increases substantially；2, the mode using gear drive and Chain conveyer to combine makes operation workflow Simply, easy and simple to handle, performance improves, and increases the service life；3, torque sensor is installed in mechanism, and The transmission of motor output torque value will be measured and calculate obstacle detouring moment of torsion to controller, controller according to different situations, And regulate motor output torque higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism, reduces motor simultaneously Output, less energy consumption.
Part is embodied by the further advantage of the present invention, target and feature by description below, and part also will By the research of the present invention and practice are understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the structure chart of the barrier getting over mechanism of the present invention.
Fig. 2 is the front view of the epicyclic train of the barrier getting over mechanism of the present invention.
Fig. 3 is the rearview of the epicyclic train of the barrier getting over mechanism of the present invention.
Fig. 4 is the barrier getting over mechanism schematic diagram at level walking of the present invention.
Fig. 5 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Fig. 6 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Fig. 7 is the state diagram of the crossing over blockage of the barrier getting over mechanism of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art's reference Description word can be implemented according to this.
Should be appreciated that used herein such as " have ", " comprising " and " including " term not Allot other element one or more or the existence of a combination thereof or interpolation.
Fig. 1-3 shows a kind of way of realization according to the present invention, and barrier getting over mechanism includes motor 100, planet Train 200, travel wheel 300, torque sensor and controller, the output shaft 110 of motor 100 connects row Star gear train 200, power is transferred to travel wheel 300, described peace by epicyclic train 200 after being accelerated The moment of torsion of motor 100 measured by the torque sensor being contained on motor 100, and controller receives torque sensor Data after processing, controller controls the output moment of torsion of motor 100 and reaches target torque, more The travel wheel 300 of barrier mechanism revolves round the sun around planet circular system 200, success crossing over blockage.
As Fig. 1 shows the motor 100 of barrier getting over mechanism, planet circular system 200 and the structure of travel wheel 300 And annexation, wherein, torque sensor is common sensor, is not shown.Motor 100 For adjusting torque formula motor, its output shaft 110 connects planet circular system 200；Wherein, output shaft 110 is pacified Dress torque sensor, described torque sensor is measured and is used electric measurement technique of strain gage, it pastes foil gauge Composition measuring bridge, causes bridge resistance to change after output shaft is produced micro-strain by moment of torsion, strain The change transitions of bridge resistor becomes the change of the signal of telecommunication thus realizes torque measurement, thus realizes measuring motor Moment of torsion.
From Fig. 1-3, epicyclic train 200 is gear, and motor 100 is exported pressing of power Being accelerated according to a stable drive ratio, it includes central gear 210, planetary gear 220, planetary gear cover plate 230, expert's carrier 240, layman's carrier 250, center sprocket wheel 260, planet sprocket 270, chain 280 With traveling wheel shaft 290.Central gear 210 is provided with on central through hole, its excircle and is laid with teeth, its In, the size of central through hole and output shaft 110, to mating, is used for connecting motor output shaft 110, sun tooth Wheel 210 is rotatably connected in the center of expert's carrier 240.Planetary gear 220 is rotated by its central shaft It is connected in expert's carrier 240, its excircle is laid teeth.Wherein, described central gear 210 He Planetary gear 220 is fixed on the homonymy in expert's carrier 240, further by planetary gear cover plate 230 , three planetary gears 220 angularly lay car equilateral triangle, and engage with central gear 210, Three planetary gears 220 are driven to rotate by central gear 210.Center sprocket wheel 260 and planetary gear 220 Concentric is arranged, and is fixed on the both sides of expert's carrier 240, planetary gear 220 by same central shaft Rotational band disorder of internal organs heart sprocket wheel 260 synchronous axial system.As seen from Figure 3, center sprocket wheel 260, chain 280 With the same side that planet sprocket 270 is laid in expert's carrier 240, further, with central gear 210 With the opposite side that planetary gear 220 is arranged on expert's carrier 240, wherein, three planet sprockets 270 Being connected on three angles of expert's carrier 240 by traveling wheel shaft 290, chain 280 is respectively at center chain Wheel 260 and planet sprocket 270 engage, i.e. center sprocket wheel 260 drives planet sprocket 270 by chain 280 Rotate, thus drive the traveling wheel shaft 290 that be connected fixing with planet sprocket 270 to rotate.As seen from Figure 1, Traveling wheel shaft 290 is set in the expert's carrier 240 and layman's carrier 250 be arrangeding in parallel, expert's carrier 240 is identical with layman's carrier 250 structure, for sealene triangle structure, wherein, traveling wheel shaft 290 The expenditure end of planet carrier 250 connects travel wheel 300 outside, and three travel wheel 300 are by traveling wheel shaft 290 Connect planet circular system 200.
Controller connects torque sensor, and it is for receiving, store and show the signal of torque sensor, Described controller includes reception of wireless signals unit and transmission unit, for receiving and transfer of torque sensor Signal, further, controller connects and drives motor and be used for controlling the output moment of torsion of motor.
Fig. 4 shows the barrier getting over mechanism state when level walking, owing to surface resistance square is less than planetary gear From torque, motor 100 drives central gear 210 to rotate by output shaft 110, central gear 210 Drive three planetary gears 220 engaged to rotate, thus drive coaxial with planetary gear 220 three Individual center sprocket wheel 260 synchronous axial system, center sprocket wheel 260 drives three by the chain 280 engaged Planet sprocket 270 rotates, thus drives the central shaft traveling wheel shaft 290 of planet sprocket 270 to rotate, and three Individual traveling wheel shaft 290 drives travel wheel 300 rotation being secured to connect, thus realizes barrier getting over mechanism Advance.Fig. 5-7 shows the state of barrier getting over mechanism crossing over blockage, owing to planet circular system is to add speed system, Planetary gear revolution moment of torsion is much larger than from torque, and motor 100 drives central gear 210 by output shaft 110 Rotate, and three planetary gears 220 engaged with central gear 210 are stagnated, so that central gear 210 Drive expert's carrier 240 revolve round the sun around motor output shaft 110, make planet circular system 200 drive barrier getting over mechanism around Motor output shaft 110 revolves round the sun, thus throwing over barrier.But there will be two kinds of situations during obstacle detouring: one be At barrier, travel wheel 300 is skidded with ground；Two is that travel wheel 300 does not has phase with ground at barrier To motion, i.e. stop operating, the condition of barrier getting over mechanism obstacle detouring in the case of discussing two kinds separately below.
When travel wheel 300 is skidded with ground, controller measures the real-time torque T ' of barrier getting over mechanism, controller The moment of torsion that calculating obstacle detouring according to formula (1) needs is T1, controller controls the real-time torque T ' of motor > and T1, Barrier getting over mechanism revolves round the sun thus obstacle detouring around motor output shaft:
T 1 = 2.7312 × a r c s i n θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × s i n θ ] × R η - - - ( 1 )
Wherein, λ is the first factor of influence, reflection angle, θ, gear ratio k, mechanical efficiency η and radius R pair The impact of obstacle detouring moment of torsion, its computing formula (2) is:
λ = arcsin θ × ( k 2 + η 2 ) R - - - ( 2 )
Wherein, λ is the first factor of influence, zero dimension；θ be constitute equilateral triangle three road wheels it Between angle, unit for degree；K is planet gear transmission ratio, zero dimension；η is the mechanical efficiency of barrier getting over mechanism； M is the quality of barrier getting over mechanism, and unit is g；F is the coefficient of kinetic friction of barrier getting over mechanism and ground, zero dimension, R is the circumscribed radius of the equilateral triangle of three road wheels formation of barrier getting over mechanism, and unit is rice.
When travel wheel 300 and ground do not have relative motion, i.e. during travel wheel stop motion, controller according to The moment of torsion that formula (2) calculates obstacle detouring and needs is T2, controller controls the real-time torque T ' of motor > and T2, more Barrier mechanism revolves round the sun thus obstacle detouring around motor output shaft；
T 2 = 2.7312 × a r c s i n θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × ( s i n θ ) 2 ] × R η - - - ( 3 )
Wherein, λ is the first factor of influence, reflection angle, θ, gear ratio k, mechanical efficiency η and radius R Impact on obstacle detouring moment of torsion, its computing formula (4) is:
λ = a r c s i n θ × ( k 2 + η 2 ) R - - - ( 4 )
Wherein, λ is the first factor of influence, zero dimension；θ be constitute equilateral triangle three road wheels it Between angle, unit for degree；K is planet gear transmission ratio, zero dimension；η is the mechanical efficiency of barrier getting over mechanism； M is the quality of barrier getting over mechanism, and unit is g；F is the coefficient of kinetic friction of barrier getting over mechanism and ground, zero dimension, R is the circumscribed radius of the equilateral triangle of three road wheels formation of barrier getting over mechanism, and unit is rice.
Following beneficial effect is at least included: 1, in the course of the work can be mechanical adaptive by the above present invention The conversion realized between travel wheel rotation and planet carrier revolution answered, makes mechanism have self adaptation obstacle climbing ability, Simple in construction and efficiency increase substantially；2, the mode using gear drive and Chain conveyer to combine makes running Flow process is simple, easy and simple to handle, and performance improves, and increases the service life；3, torque sensor is installed in mechanism, And measurement motor output torque value transmission is calculated obstacle detouring moment of torsion to controller, controller according to different situations, And regulate motor output torque higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism, reduces motor simultaneously Output, less energy consumption.
Although embodiment of the present invention are disclosed as above, but it is not restricted to description and embodiment party Listed utilization in formula.It can be applied to various applicable the field of the invention completely.For being familiar with ability For the personnel in territory, it is easily achieved other amendment.Therefore without departing substantially from claim and etc. homotype Enclosing under limited general concept, the present invention is not limited to specific details and shown here as the figure with description Example.

Claims (10)

1. a self adaptation barrier getting over mechanism, it is characterised in that including:
Drive motor, including motor output shaft；
Expert's carrier, it includes at least two outward extending legs, and towards described driving motor Central gear and planetary gear are set on side, another side arranges center sprocket wheel and multiple planet sprocket； And
Described central gear, it passes through, and the first axle is rotatable to be fixed in described expert's carrier, described motor Output shaft connects described central gear；
Described planetary gear, it is fixed in described expert's carrier by the second axle is rotatable, and and institute State central gear engagement；
Described center sprocket wheel, it is fixed on described second axle, described center sprocket wheel and described planetary gear Common rotation；
The plurality of planet sprocket, it is rotatably arranged on the outer end of described leg one to one；
Chain, it is simultaneously engaged with described center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed with the plurality of planet sprocket respectively, and and the plurality of planet chain Wheel is common to be rotated.
2. self adaptation barrier getting over mechanism as claimed in claim 1, it is characterised in that also include:
Torque sensor, it is arranged on driving motor output shaft, and motor measured by described torque sensor Moment of torsion；
Controller, it connects torque sensor and receives torque sensor with driving motor, described controller Signal, and control to drive the output moment of torsion of motor.
3. self adaptation barrier getting over mechanism as claimed in claim 2, it is characterised in that described barrier getting over mechanism is met During to obstacle travel wheel and ground skidding, for ensureing barrier getting over mechanism revolution obstacle detouring, controller controls motor Torque T ' meets in real time:
T ′ > 2.7312 × a r c s i n θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × s i n θ ] × R η - - - ( 1 )
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gear ratio, and η is the machinery of barrier getting over mechanism Efficiency；M is the quality of barrier getting over mechanism, and f is the coefficient of kinetic friction of barrier getting over mechanism and ground, and R is obstacle detouring machine The radius of turn of structure.
4. self adaptation barrier getting over mechanism as claimed in claim 3, it is characterised in that described barrier getting over mechanism is met Taking turns to obstacle and do not have relative motion with ground, for ensureing barrier getting over mechanism revolution obstacle detouring, controller controls electricity The real-time torque T ' of machine meets；
T ′ = 2.7312 × arcsin θ × ( k 2 + η 2 ) R × [ ( k - 1 ) ( m g f + mgf 2 + mgf 3 ) - m g × ( s i n θ ) 2 ] × R η - - - ( 2 )
Wherein, θ is angle between road wheel, and k is barrier getting over mechanism gear ratio, and η is the machinery of barrier getting over mechanism Efficiency；M is the quality of barrier getting over mechanism, and f is the coefficient of kinetic friction of barrier getting over mechanism and ground, and R is obstacle detouring machine The radius of turn of structure.
5. self adaptation barrier getting over mechanism as claimed in claim 4, it is characterised in that described barrier getting over mechanism exists Time traveling in level land, travel wheel rotation drives barrier getting over mechanism to advance.
6. the self adaptation barrier getting over mechanism as according to any one of claim 3-5, it is characterised in that described Planetary quantity is three, described central gear and three described planetary gear engagements, described three Described planetary gear arranges into equilateral triangular shape.
7. the self adaptation barrier getting over mechanism as according to any one of claim 3-5, it is characterised in that also wrap Including layman's carrier, described expert's carrier is identical with layman's carrier shape, described expert's carrier and layman's carrier Between space described in center sprocket wheel, planet sprocket and chain.
8. self adaptation barrier getting over mechanism as described in claim 7, it is characterised in that also include planet tooth Wheel cover plate, it is also fixedly mounted in expert's carrier with central gear homonymy, described planetary gear cover plate and Space between described expert's carrier is used for accommodating described central gear and described planetary gear.
9. the self adaptation barrier getting over mechanism as described in claim 1 or 6, it is characterised in that described expert Carrier there are three overhanging legs, the quantity of described planet sprocket is three, three described planet chains The line of centres of wheel forms equilateral triangle.
10. self adaptation barrier getting over mechanism as described in claim 9, it is characterised in that described chain Described planet sprocket is engaged in inner side, and described center sprocket wheel is engaged in the outside of described chain.
CN201610297759.XA 2016-05-06 2016-05-06 A kind of self adaptation barrier getting over mechanism Expired - Fee Related CN105864383B (en)

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CN106944673A (en) * 2017-04-06 2017-07-14 青岛铠硕机械科技有限公司 A kind of automatic plane saw is with universal
CN106996958A (en) * 2017-03-31 2017-08-01 山东科技大学 A kind of long transport pipeline automatic detection device based on bimodal supersonic guide-wave
CN107351601A (en) * 2017-06-22 2017-11-17 安徽风向标清洁设备有限公司 Wheel for floor-cleaning machine
CN108515841A (en) * 2018-06-19 2018-09-11 湖北科技学院 A kind of automobile
CN108790804A (en) * 2018-06-19 2018-11-13 湖北科技学院 A kind of clutch on automotive wheel
CN108790594A (en) * 2018-06-19 2018-11-13 湖北科技学院 A kind of automotive wheel structure
CN109397982A (en) * 2018-12-08 2019-03-01 新乡北方车辆仪表有限公司 A kind of multifunctional turnover runner based on built-up gear system
CN110434826A (en) * 2019-08-12 2019-11-12 东北大学 A kind of drive lacking stair climbing robot based on differential mechanism and inverted pendulum

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CN103169579A (en) * 2013-04-17 2013-06-26 程世赞 Rapidly-dismounted electric stair-climbing wheelchair
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* Cited by examiner, † Cited by third party
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CN106996958A (en) * 2017-03-31 2017-08-01 山东科技大学 A kind of long transport pipeline automatic detection device based on bimodal supersonic guide-wave
CN106944673A (en) * 2017-04-06 2017-07-14 青岛铠硕机械科技有限公司 A kind of automatic plane saw is with universal
CN106944673B (en) * 2017-04-06 2020-03-17 青岛铠硕机械科技有限公司 Universal direction for automatic planing and sawing machine
CN107351601A (en) * 2017-06-22 2017-11-17 安徽风向标清洁设备有限公司 Wheel for floor-cleaning machine
CN108515841A (en) * 2018-06-19 2018-09-11 湖北科技学院 A kind of automobile
CN108790804A (en) * 2018-06-19 2018-11-13 湖北科技学院 A kind of clutch on automotive wheel
CN108790594A (en) * 2018-06-19 2018-11-13 湖北科技学院 A kind of automotive wheel structure
CN109397982A (en) * 2018-12-08 2019-03-01 新乡北方车辆仪表有限公司 A kind of multifunctional turnover runner based on built-up gear system
CN109397982B (en) * 2018-12-08 2023-09-22 新乡北方车辆仪表有限公司 Multifunctional turning wheel based on combined gear train
CN110434826A (en) * 2019-08-12 2019-11-12 东北大学 A kind of drive lacking stair climbing robot based on differential mechanism and inverted pendulum
CN110434826B (en) * 2019-08-12 2022-06-14 东北大学 Under-actuated stair climbing robot based on differential mechanism and inverted pendulum

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