CN110355735B - Two-degree-of-freedom robot - Google Patents

Two-degree-of-freedom robot Download PDF

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Publication number
CN110355735B
CN110355735B CN201910669520.4A CN201910669520A CN110355735B CN 110355735 B CN110355735 B CN 110355735B CN 201910669520 A CN201910669520 A CN 201910669520A CN 110355735 B CN110355735 B CN 110355735B
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China
Prior art keywords
motor
paddle
degree
plate
freedom robot
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CN201910669520.4A
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CN110355735A (en
Inventor
孙翊
张龙腾
蒲华燕
王敏
罗均
丁基恒
彭艳
谢少荣
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B62D57/028—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 having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/003—Disposition of motor in, or adjacent to, traction wheel with two or more motors driving a single wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Looms (AREA)

Abstract

The invention discloses a two-degree-of-freedom robot, which comprises a rack, wherein at least three motion units are fixedly arranged on the rack; the motion unit comprises an inner motor plate, an outer motor plate and an outer frame plate, wherein the inner motor plate is fixedly connected with the rack, a first motor is fixedly arranged on the inner motor plate, a rotor of the first motor is connected with a first speed reducer through a first connecting disc, an output shaft of the first speed reducer is connected with a rotating disc, the rotating disc is in key connection with a driving shaft, a hollow second motor is fixedly arranged on the outer electrode plate, the rotor of the second motor is connected with a second speed reducer through a second connecting disc, an output part of the second speed reducer is fixedly connected with a hub of a driving wheel, the driving wheel is rotatably connected with the outer frame plate, the driving shaft penetrates through the second motor and the hub, a gap is reserved between the driving shaft and the second motor, the driving shaft is fixedly connected with an eccentric mechanism, a protective cylinder is fixedly arranged on the outer side of the driving wheel, a paddle rod is rotatably. The two-degree-of-freedom robot can adapt to various terrains and has strong environmental adaptability.

Description

Two-degree-of-freedom robot
Technical Field
The invention relates to the technical field of robots, in particular to a two-degree-of-freedom robot.
Background
At present, work such as engineering research and development, exploration, rescue and relief work and the like performed in a plurality of complicated and severe environments is not suitable for human-to-human work, and the robot can replace human to safely and efficiently complete expected tasks.
Most of the current robots are wheel type, leg type and crawler type, but the three types of robots in the complex and severe amphibious environment expose a plurality of problems to different degrees: the wheeled robot has poor environmental adaptability and very low fault-tolerant rate, and can only adapt to smooth road surfaces; the legged robot has a complex structure, low speed, high power consumption and poor stability; and the crawler-type robot has poor flexibility and maneuverability, large weight and slow speed.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom robot, which solves the problems in the prior art, improves the environmental adaptability of the robot and enables the robot to adapt to various terrains.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a two-degree-of-freedom robot, which comprises a rack, wherein at least three motion units are fixedly arranged on the rack; the motion unit comprises an inner motor plate, an outer motor plate and an outer frame plate which are vertical and fixedly connected with the rack, the outer motor plate is positioned between the inner motor plate and the outer frame plate, a first motor is fixedly arranged on the inner motor plate, a rotor of the first motor is connected with a first speed reducer through a first connecting disc, an output shaft of the first speed reducer is connected with a rotating disc, the rotating disc is connected with a driving shaft key, a hollow second motor is fixedly arranged on the outer electrode plate, a rotor of the second motor is connected with a second speed reducer through a second connecting disc, an output part of the second speed reducer is fixedly connected with a hub of a driving wheel, the driving wheel is rotatably connected with the outer frame plate, the driving shaft penetrates through the second motor and the hub, a gap is reserved between the driving shaft and the second motor, one end, far away from the first motor, of the driving shaft is fixedly connected with an eccentric mechanism, one side of the driving wheel, which is far away from the first motor, is fixedly provided with a protective cylinder which is vertical to the side surface of the first motor, one end of a paddle rod is rotatably connected with the eccentric mechanism through a paddle shaft, the other end of the paddle rod penetrates through the protective cylinder, a linear bearing is sleeved on the paddle rod, and the linear bearing is connected with the protective cylinder through a hinge block.
Preferably, a first encoder is arranged on the first motor, and a second encoder is arranged on the second motor.
Preferably, the driving shaft is rotatably connected with the hub through two first bearings, and a third connecting disc is further arranged on the driving shaft between the two first bearings.
Preferably, the guard cylinder is coaxial with the drive wheel.
Preferably, the eccentric mechanism comprises an eccentric turntable base fixedly connected with the driving shaft, an eccentric turntable is fixedly arranged on the eccentric turntable base, a turntable is fixedly arranged on the eccentric turntable, a paddle shaft is arranged on the turntable, and one end of a paddle rod is rotationally connected with the paddle shaft through a paddle fixing piece; a second bearing is arranged between the two paddle fixing pieces, and the paddle shaft is in rotating connection with the second bearing; and a gasket is arranged between the eccentric turntable base and the hub.
Preferably, the hinge block is rotatably connected with the protective cylinder through two third bearings, and the two third bearings are distributed along the axial direction of the protective cylinder.
Preferably, the number of the motion units is four, the four motion units are symmetric in pairs, and each two symmetric motion units form a group of motion parts.
Preferably, one set of the moving parts is located at the front end of the frame, and the other set of the moving parts is located at the rear end of the frame.
Compared with the prior art, the two-degree-of-freedom robot has the following technical effects:
the two-degree-of-freedom robot can adapt to various terrains and has strong environmental adaptability. The motion unit in the two-degree-of-freedom robot can realize the motion with two degrees of freedom, the motion with two degrees of freedom is provided with power by two groups of different driving systems, the two groups of driving mechanisms are coaxially arranged, one group connected with the hub drives the driving wheel to rotate, and the other group connected with the shaft provides power for the eccentric mechanism, thereby greatly saving the space occupancy rate of the robot, avoiding the transmission of gears or belt wheels, and improving the motion stability and the speed transmission performance of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom robot according to the present invention;
FIG. 2 is a first schematic structural diagram of a kinematic unit in the two-degree-of-freedom robot according to the present invention;
FIG. 3 is a second schematic structural diagram of a kinematic unit in the two-degree-of-freedom robot according to the present invention;
FIG. 4 is a schematic structural diagram of an eccentric mechanism in the two-degree-of-freedom robot according to the present invention;
FIG. 5 is a schematic structural diagram of a connecting structure of a paddle lever and an eccentric turntable in the two-degree-of-freedom robot according to the present invention;
FIG. 6 is a schematic structural diagram of a paddle shaft of the two-degree-of-freedom robot according to the present invention;
FIG. 7 is a schematic structural view of a connecting structure of a paddle lever and a guard plate in the two-degree-of-freedom robot according to the present invention;
wherein, 1-a frame, 2-a motion unit, 3-a first motor, 4-a first connecting disc, 5-a first encoder, 6-a first reducer, 7-a rotating disc, 8-a second motor, 9-a second connecting disc, 10-a second encoder, 11-a second reducer, 12-a hub, 13-a driving wheel, 14-an inner motor plate, 15-an outer motor plate, 16-a driving shaft, 17-a third connecting disc, 18-an eccentric turntable base, 19-an eccentric turntable, 20-a connecting rod, 21-a paddle shaft, 22-a paddle rod, 23-a linear bearing, 24-a hinge block, 25-a paddle fixing piece, 26-a protective cylinder, 27-a turntable, 28-a first bearing, 29-a gasket and 30-a second bearing, 31-ball end, 32-third bearing.
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. 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.
The invention aims to provide a two-degree-of-freedom robot, which solves the problems in the prior art, improves the environmental adaptability of the robot and enables the robot to adapt to various terrains.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the two-degree-of-freedom robot of the embodiment includes a frame 1, and four motion units 2 are fixedly arranged on the frame 1; the four motion units 2 are symmetrical in pairs, each two symmetrical motion units 2 form a group of motion parts, one group of motion parts are positioned at the front end of the machine frame 1, and the other group of motion parts are positioned at the rear end of the machine frame 1.
Referring to fig. 1-7, the motion unit 2 includes an inner motor plate 14, an outer motor plate 15 and an outer frame plate, which are all vertical and are all fixedly connected to the frame 1, the outer motor plate 15 is located between the inner motor plate 14 and the outer frame plate, in this embodiment, the frame 1 is formed by overlapping some vertical pipes and horizontal pipes, and the vertical pipes and the horizontal pipes are connected to the inner motor plate 14, the outer motor plate 15 and the outer frame plate through clamps.
The inner motor plate 14 is fixedly provided with a first motor 3, a rotor of the first motor 3 is connected with a first speed reducer 6 through a first connecting disc 4, an output shaft of the first speed reducer 6 is connected with a rotating disc 7, the rotating disc 7 is in key connection with a driving shaft 16, the first motor 3 is further provided with a first encoder 5, and the first motor 3, the first connecting disc 4, the first speed reducer 6, the rotating disc 7 and the like form a first driving system; a hollow second motor 8 is fixedly arranged on the outer electrode plate, a rotor of the second motor 8 is connected with a second speed reducer 11 through a second connecting disc 9, an output part of the second speed reducer 11 is fixedly connected with a hub 12 of a driving wheel 13, the driving wheel 13 is rotatably connected with the outer frame plate, a second encoder 10 is arranged on the second motor 8, and the second motor 8, the second connecting disc 9, the second speed reducer 11 and the like form a second driving system.
It should be noted that, in this embodiment, the first motor 3 and the second motor 8 are both dc brushless motors, the second motor 8 is hollow, a through hole is provided in the middle of the second motor 8, the driving shaft 16 passes through the through hole and the hub 12, a gap is provided between the driving shaft 16 and the second motor 8, one end of the driving shaft 16 away from the first motor 3 is fixedly connected to the eccentric mechanism, the driving shaft 16 is rotatably connected to the hub 12 through two first bearings 28, and a third connecting disc 17 is further provided on the driving shaft 16 between the two first bearings 28.
The eccentric mechanism specifically comprises an eccentric turntable base 18 fixedly connected with a driving shaft 16, an eccentric turntable 19 is fixedly arranged on the eccentric turntable base 18, the eccentric turntable base 18 is connected with the eccentric turntable 19 through a connecting rod 20, a turntable 27 is fixedly arranged on the eccentric turntable 19, a paddle shaft 21 is arranged on the turntable 27, and one end of a paddle rod 22 is rotatably connected with the paddle shaft 21 through a paddle fixing piece 25; a second bearing 30 is arranged between the two paddle fixing parts 25, and the paddle shaft 21 is rotationally connected with the second bearing 30; a washer 29 is disposed between the eccentric turntable base 18 and the hub 12. The outer side of the driving wheel 13 is fixedly provided with a protective cylinder 26 which is perpendicular to the side surface of the first motor 3 and coaxial with the driving wheel 13, one end of a paddle rod 22 is rotatably connected with the eccentric mechanism through a paddle shaft 21, the other end of the paddle rod 22 penetrates through the protective cylinder 26, a linear bearing 23 is sleeved on the paddle rod 22, the linear bearing 23 is connected with the protective cylinder 26 through a hinge block 24, the hinge block 24 is rotatably connected with the protective cylinder 26 through two third bearings 32, and the two third bearings 32 are distributed along the axial direction of the protective cylinder 26. As shown in fig. 6, the end of the shaft 22 remote from the shaft 21 is provided with a ball end 31.
The two-degree-of-freedom robot further comprises a controller and a driver, the controller and the driver are arranged on the rack and electrically connected, the driver is electrically connected with the first motor 3 and the second motor 8, the controller is STM32F103, and the driver is elmoG-WH.
The two-degree-of-freedom robot of the embodiment has the following three working states during working:
(1) the wheel type working form is as follows: firstly, adjusting the position of the eccentric turntable 19 to enable the paddle shaft 21 to be positioned right above the driving shaft 16, enabling the paddle rod 22 to be vertically upward, then starting the second driving system, and closing the first driving system; the driving wheel 13 is driven by the second driving system to rotate continuously, the paddle rod 22 is driven by the driving wheel 13 to do circular motion by taking the paddle shaft 21 as a circle center, and due to the eccentric mechanism, the paddle rod 22 continuously extends and retracts in the driving wheel 13, and because the paddle shaft 21 is positioned right above the driving shaft 16, the position of the paddle shaft 21 is fixed, and the extension and retraction of the paddle rod 22 cannot influence the contact between the driving wheel and the ground, namely the paddle rod 22 cannot interfere with the ground;
(2) leg type working form: when the ground environment is complex and the driving wheel 13 loses effect, the two-degree-of-freedom robot of the embodiment can realize gait leap, firstly, the ball end 31 is ensured to extend out of the driving wheel 13, so that the paddle rod 22 can serve as a leg of the robot, then, the first driving system and the second driving system are simultaneously started, the eccentric mechanism is controlled to synchronously rotate with the driving wheel 13, the rotation of the whole wheel is matched, and leg type movement is completed on the rugged and complex ground; in the leg type working state, the distance between the paddle leg, namely the ball end 31 of the paddle rod 22, and the protective cylinder can be adjusted according to the position of the eccentric wheel in the wheel train, so that the gait motion of the robot under different leg lengths is realized.
(3) Obstacle crossing working mode: when the two-degree-of-freedom robot faces a higher obstacle, the legged working form may not complete obstacle crossing because the gait amplitude is not enough, and even the damage of the robot mechanism may be caused. In the obstacle crossing working state, firstly, the positions of the paddle shaft 21 and the hinge block 24 are adjusted, so that the ball end 31 extends out of the driving wheel 13, even if the paddle rod 22 serves as an obstacle crossing supporting leg of the robot, at the moment, the first group of driving systems is started, and the second group of driving systems is closed, so that the robot can be driven to complete obstacle crossing, as the driving wheel shell is in contact with the ground to ensure enough contact area, and meanwhile, the ball end 31 of the natural rubber head at the front end of the paddle rod 22 can be clamped on the obstacle surface to provide extra obstacle crossing power, the movement and the adaptability of the robot in the severe environment are improved.
In the description of the present invention, it should be noted that the terms "vertical", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A two-degree-of-freedom robot is characterized in that: the device comprises a rack, wherein at least three motion units are fixedly arranged on the rack; the motion unit comprises an inner motor plate, an outer motor plate and an outer frame plate which are vertical and fixedly connected with the rack, the outer motor plate is positioned between the inner motor plate and the outer frame plate, a first motor is fixedly arranged on the inner motor plate, a rotor of the first motor is connected with a first speed reducer through a first connecting disc, an output shaft of the first speed reducer is connected with a rotating disc, the rotating disc is connected with a driving shaft key, a hollow second motor is fixedly arranged on the outer motor plate, a rotor of the second motor is connected with a second speed reducer through a second connecting disc, an output part of the second speed reducer is fixedly connected with a hub of a driving wheel, the driving wheel is rotatably connected with the outer frame plate, the driving shaft penetrates through the second motor and the hub, a gap is reserved between the driving shaft and the second motor, one end, far away from the first motor, of the driving shaft is fixedly connected with an eccentric mechanism, one side of the driving wheel, which is far away from the first motor, is fixedly provided with a protective cylinder which is vertical to the side surface of the first motor, one end of a paddle rod is rotatably connected with the eccentric mechanism through a paddle shaft, the other end of the paddle rod penetrates through the protective cylinder, a linear bearing is sleeved on the paddle rod, and the linear bearing is connected with the protective cylinder through a hinge block.
2. The two-degree-of-freedom robot according to claim 1, characterized in that: the first motor is provided with a first encoder, and the second motor is provided with a second encoder.
3. The two-degree-of-freedom robot according to claim 1, characterized in that: the driving shaft is rotatably connected with the wheel hub through two first bearings, and a third connecting disc is further arranged on the driving shaft between the two first bearings.
4. The two-degree-of-freedom robot according to claim 1, characterized in that: the protective cylinder is coaxial with the driving wheel.
5. The two-degree-of-freedom robot according to claim 1, characterized in that: the eccentric mechanism comprises an eccentric turntable base fixedly connected with the driving shaft, an eccentric turntable is fixedly arranged on the eccentric turntable base, a turntable is fixedly arranged on the eccentric turntable, a paddle shaft is arranged on the turntable, and one end of a paddle rod is rotationally connected with the paddle shaft through a paddle fixing piece; a second bearing is arranged between the two paddle fixing pieces, and the paddle shaft is in rotating connection with the second bearing; and a gasket is arranged between the eccentric turntable base and the hub.
6. The two-degree-of-freedom robot according to claim 5, characterized in that: the hinge block is rotatably connected with the protective cylinder through two third bearings, and the two third bearings are distributed along the axial direction of the protective cylinder.
7. The two-degree-of-freedom robot according to claim 1, characterized in that: the number of the motion units is four, the four motion units are symmetrical in pairs, and every two symmetrical motion units form a group of motion parts.
8. The two-degree-of-freedom robot according to claim 7, wherein: one group of the moving parts is positioned at the front end of the frame, and the other group of the moving parts is positioned at the rear end of the frame.
CN201910669520.4A 2019-07-24 2019-07-24 Two-degree-of-freedom robot Active CN110355735B (en)

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CN110355735B true CN110355735B (en) 2020-10-16

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JP2013215018A (en) * 2012-03-30 2013-10-17 Honda Motor Co Ltd Vehicle drive device
CN203995646U (en) * 2013-02-08 2014-12-10 高效动力传动***公司 Four wheel drive type arrangements of power system for the two clutch hybrid electric vehicles of double-motor
WO2015073084A1 (en) * 2013-08-20 2015-05-21 The Regents Of The University Of Colorado, A Body Corporate Hybrid co-axial shaft in shaft transmission using planetary gear set for multiple sources of torque
CN204801441U (en) * 2015-03-20 2015-11-25 比亚迪股份有限公司 Controlling means and amphibious vehicle of amphibious vehicle hybrid actuating system

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Publication number Priority date Publication date Assignee Title
JP2010178451A (en) * 2009-01-28 2010-08-12 Minebea Motor Manufacturing Corp Coaxial motor
CN102975782A (en) * 2012-12-25 2013-03-20 上海大学 Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism
CN103318288A (en) * 2013-06-03 2013-09-25 上海大学 Synchronous belt driving type full tracked robot
CN104890755B (en) * 2015-06-25 2016-10-26 安徽工业大学 A kind of wheel-leg combined type barrier-crossing traveling mechanism
DE102017214745A1 (en) * 2017-08-23 2019-02-28 Zf Friedrichshafen Ag Central drive unit for a vehicle and drive arrangement with the central drive unit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013215018A (en) * 2012-03-30 2013-10-17 Honda Motor Co Ltd Vehicle drive device
CN203995646U (en) * 2013-02-08 2014-12-10 高效动力传动***公司 Four wheel drive type arrangements of power system for the two clutch hybrid electric vehicles of double-motor
WO2015073084A1 (en) * 2013-08-20 2015-05-21 The Regents Of The University Of Colorado, A Body Corporate Hybrid co-axial shaft in shaft transmission using planetary gear set for multiple sources of torque
CN204801441U (en) * 2015-03-20 2015-11-25 比亚迪股份有限公司 Controlling means and amphibious vehicle of amphibious vehicle hybrid actuating system

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