CN113103862B - Crawler-type obstacle crossing vehicle - Google Patents
Crawler-type obstacle crossing vehicle Download PDFInfo
- Publication number
- CN113103862B CN113103862B CN202110388212.1A CN202110388212A CN113103862B CN 113103862 B CN113103862 B CN 113103862B CN 202110388212 A CN202110388212 A CN 202110388212A CN 113103862 B CN113103862 B CN 113103862B
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- crawler
- driving
- wheel
- output
- sleeve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a crawler-type obstacle crossing vehicle which comprises a vehicle body, crawler devices arranged on two sides of the vehicle body, a driving motor and a transmission system used for transmitting the power of the driving motor to the crawler devices, wherein the crawler devices are arranged on the two sides of the vehicle body; the crawler device comprises a wheel carrier, three crawler wheels distributed on the wheel carrier, a crawler arranged around the three crawler wheels and a main driving wheel for driving the crawler wheels to rotate in a belt transmission mode; the transmission system comprises a double clutch; the output shaft of the driving motor is in transmission connection with the input end of the double clutch; the power output by the two output ends of the double clutch is respectively and correspondingly transmitted to the wheel carrier and the main driving wheel of the crawler device; the obstacle crossing vehicle disclosed by the invention can move at a high speed through the operation of the crawler when running on a regular road or a relatively gentle irregular road, and can cross obstacles through the integral rotation of the triangular crawler device when running on a highly complex terrain or encountering a relatively large obstacle.
Description
Technical Field
The invention belongs to the field of crawler structures, and particularly relates to a crawler-type obstacle crossing vehicle.
Background
The application of the mobile robot in multiple fields such as military reconnaissance, post-disaster search and rescue, fire control and explosion elimination, farmland monitoring, moon exploration and the like gradually becomes a trend. In some special fields, the use environment is often irregular and complicated terrain, such as open-air jungles, ruins after earthquakes, buildings after fire, rugged mountainous regions, lunar surfaces of potholes and the like, so that the research on obstacle crossing ways and capabilities of the mobile robot becomes one of the directions of numerous scholars. In addition, most of these application environments are small robots, i.e. the robots are required to have the characteristics of small size, light weight, certain bearing capacity, strong environmental adaptability, high maneuverability, and the like. The contradiction between miniaturization and obstacle-surmounting capability always plagues people.
Disclosure of Invention
In view of the above, the present invention aims to provide a crawler-type obstacle crossing vehicle, which moves at a high speed through the operation of a crawler when the vehicle travels on a regular road or a relatively smooth irregular road, and moves over an obstacle through the rotation of a triangular crawler unit when the vehicle travels on a highly complex terrain or encounters a relatively large obstacle, and at the same time, the vehicle only needs one driving motor to realize the travel in the two manners.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a crawler-type obstacle crossing vehicle comprises a vehicle body, crawler devices arranged on two sides of the vehicle body, a driving motor and a transmission system used for transmitting power of the driving motor to the crawler devices;
the crawler device comprises a wheel frame, three crawler wheels distributed on the wheel frame, a crawler arranged around the three crawler wheels and a main driving wheel used for driving the crawler wheels to rotate in a belt transmission mode;
the transmission system comprises a double clutch; the output shaft of the driving motor is in transmission connection with the input end of the double clutch; and the power output by the two output ends of the double clutches is respectively and correspondingly transmitted to the wheel carrier and the main driving wheel of the crawler belt device.
Furthermore, the transmission system also comprises a driving shaft connected with the main driving wheel through spline transmission and a driving sleeve sleeved on the driving shaft and mutually fixed with the wheel carrier; and two output ends of the double clutch respectively transmit power to the driving shaft and the driving sleeve through a fast gear pair and a slow gear pair correspondingly.
Further, the double clutch comprises a shell, a clutch body rotationally supported on the shell, an output shaft rotationally matched with the clutch body and an output sleeve sleeved on the output shaft; one end of the clutch body is fixedly connected with an input disc, and the other end of the clutch body is fixedly connected with a sealing end cover; an active friction disk I and an active friction disk II which are respectively arranged at two sides of the spacing ring are fixed on the inner circle of the clutch body; the output shaft and the output sleeve are respectively and fixedly connected with a driven friction disc I and a driven friction disc II correspondingly; two push discs I and II for pushing the driving friction disc and the driven friction disc to be combined are arranged on the two sides of the spacer ring back to back; the output shaft, the output sleeve and the clutch body are provided with a driving oil way I and a driving oil way II which are used for respectively driving the push disc I and the push disc II to act correspondingly; and the output sleeve and the output shaft respectively transmit power to the driving shaft and the driving sleeve through the fast gear pair and the slow gear pair correspondingly.
Furthermore, two pairs of crawler devices and transmission systems are arranged and are respectively arranged on two sides of the vehicle body; the two driving motors respectively drive the two pairs of crawler belt devices to act correspondingly; a pair of belt wheels which are coaxially arranged is fixed on an output shaft of the driving motor, and power is transmitted to the input ends of the two transmission systems through the two synchronous belt mechanisms respectively.
Further, the synchronous belt mechanism is tensioned through a tensioning mechanism; the tensioning mechanism comprises a bracket fixed on the vehicle body, a tensioning wheel and two tensioning toothed belt wheels positioned on two sides of the tensioning wheel; and the wheel shaft of the tension wheel is arranged on the bracket through a vertically arranged adjusting screw.
The invention has the beneficial effects that: according to the crawler-type obstacle crossing vehicle, the power of the driving motor can be selectively output to the main driving wheel or the wheel carrier of the crawler device through the double clutches, so that the crawler device can rapidly advance through crawler operation or the obstacle crossing can be realized through the integral rotation of the crawler device; on the other hand, the two output ends of the double clutch respectively adjust the transmission ratio through the fast gear pair and the slow gear pair, so that on one hand, the advancing speed of the obstacle crossing vehicle is improved, and meanwhile, enough torque can be provided when the obstacle crossing vehicle crosses the obstacle, and the obstacle crossing capability of the obstacle crossing vehicle is improved.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic overall structure diagram of a crawler-type obstacle crossing vehicle of the present invention;
FIG. 2 is a schematic view of the track assembly of the present invention;
FIG. 3 is a schematic view of the internal structure of the track assembly of the present invention;
FIG. 4 is a schematic view of the mounting of the drive motor of the present invention;
FIG. 5 is a schematic structural diagram of the transmission system of the present invention;
fig. 6 is a schematic structural view of the tension mechanism of the present invention.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1, a crawler-type obstacle crossing vehicle of the present embodiment includes a vehicle body 1, crawler units 2 disposed on both sides of the vehicle body 1, a driving motor 42, and a transmission system 5 for transmitting power of the driving motor 42 to the crawler units 2;
as shown in fig. 2 and 3, the crawler device 2 includes an equilateral triangle wheel frame 31, three crawler wheels 33 distributed at three corners of the wheel frame 31, a crawler 34 disposed around the three crawler wheels 33, and a main driving wheel 32 for driving the crawler wheels 33 to rotate by means of belt transmission; the track wheels 33 and the main driving wheel 32 are rotatably mounted on the wheel frame 31, the main driving wheel 32 is mounted at the midpoint of the wheel frame 31, the main driving wheel 32 is a synchronous pulley provided with an internal spline, and one of the track wheels 33 is coaxially fixed with the other synchronous pulley, so that the main driving wheel 32 can input power to one of the track wheels 33 through a belt transmission mechanism.
The transmission system 5 comprises a double clutch, a driving shaft 517 connected to the main driving wheel 32 through spline transmission, and a driving sleeve 516 sleeved on the driving shaft 517 and fixed with the wheel carrier 31; the drive sleeve 516 is supported on the drive shaft 517 via a needle bearing; the driving sleeve 516 is fixedly connected to the wheel carrier 31 of the crawler device 2 through a driving disc 515; an output shaft 518 of the driving motor 42 is in transmission connection with the input end of the double clutch; the power output by the two output ends of the double clutch is respectively and correspondingly transmitted to the wheel carrier 31 and the main driving wheel 32 of the crawler belt device 2. The double clutches are provided with two output ends (namely an output shaft 518 and an output sleeve in the embodiment), and one output end can be selected to output by power through the action of the double clutches; the power of one output end can be transmitted to the main driving wheel 32, so that the track runs to realize the traveling of the obstacle crossing vehicle; the power of the other output end can be transmitted to the wheel carrier 31, so that the wheel carrier 31 integrally rotates to realize obstacle crossing.
In this embodiment, the dual clutch includes a housing 52, a clutch body 56 rotatably supported by the housing 52, an output shaft 518 rotatably fitted to the clutch body 56, and an output sleeve 521 externally sleeved on the output shaft 518; as shown in fig. 5, the clutch body 56 includes an outer cylinder and an inner cylinder which are coaxially disposed, and a spacer ring connected between the outer cylinder and the inner cylinder; a portion of the output shaft 518 is supported within the inner barrel by a needle bearing; the part of the output shaft 518 extending out of the outer cylinder is sleeved with an output sleeve 521 through a needle bearing; one end of the clutch body 56 is fixedly connected with an input disc 51, and the other end of the clutch body 56 is fixedly connected with a sealing end cover 59; an active friction disk I54 and an active friction disk II 58 which are respectively arranged on two sides of the spacer ring are fixed on the inner circle of the outer cylinder of the clutch body 56; the output shaft 518 and the output sleeve 521 are respectively and correspondingly fixedly connected with a driven friction disk I519 and a driven friction disk II 510; the driving friction disc I54 and the driving friction disc II 58 are correspondingly matched with the driven friction disc I519 and the driven friction disc II 510 respectively; two push plates I55 and two push plates II for pushing the driving friction disc and the driven friction disc to be combined are arranged on the two sides of the spacer ring back to back; the push disc I55 and the push disc II are sleeved outside the inner cylinder in a sliding manner; the inner circle and the outer circle of the push disc I55 and the push disc II are respectively provided with a sealing ring which is used for being in sliding sealing fit with the outer circle surface of the inner cylinder and the inner circle surface of the outer cylinder, the end surface of the push disc facing the spacer ring is provided with a ring groove, and a sealed cavity is formed between the ring groove and the end surface of the spacer ring; a snap ring is arranged on the outer circular surface of the inner cylinder, and a disc spring 57 for pushing the push disc to reset is arranged between the snap ring and the push disc. The output shaft 518, the output sleeve 521 and the clutch body 56 are provided with a driving oil path I511 and a driving oil path II 520 which are used for respectively driving the push disc I55 and the push disc II to act correspondingly; as shown in the figure, an oil injection ring is sleeved on the output sleeve 521 in a rotating manner, a ring groove is formed in the inner circle of the oil injection ring, an oil inlet hole communicated with the ring groove is formed in the output sleeve 521, a driving oil path is formed inside the output shaft 518 and the spacer ring of the clutch body 56, and the inner end of the driving oil path is communicated with a sealing cavity between the push disc and the spacer ring; the output shaft 518 is provided with a ring groove which is communicated with the outer end of the driving oil way; therefore, the pressure oil is injected into the driving oil path through the annular groove of the oil injection ring, so that the pressure oil enters the sealed space between the push disc and the spacer ring, the push disc is pushed to slide, and the driving friction disc and the driven friction disc are jointed; in addition, in order to improve the heat dissipation condition of the clutch, the output shaft 518, the output sleeve 521 and the clutch body 56 are provided with a heat dissipation oil path 512, and one end of the heat dissipation oil path 512 is connected with a space between the push disc and the driven friction disc; the outer cylinder of the clutch body 56 is provided with an oil outlet 53, and the heat dissipation oil enters the positions of the driving friction disks and the driven friction disks through a heat dissipation oil path 512 and is discharged through the oil outlet 53, thereby improving heat dissipation.
In this embodiment, the output sleeve 521 and the output shaft 518 respectively transmit power to the driving shaft 517 and the driving sleeve through the fast gear pair 513 and the slow gear pair 514; the gear ratio of the fast gear pair 513 is smaller than that of the slow gear pair 514; therefore, when power is output from the output sleeve 521 to the driving shaft 517 through the quick gear pair 513, the rotation speed of the driving shaft 517 is fast, and fast running and fast traveling of the crawler can be achieved; when power is output from the output shaft 518 to the driving sleeve through the slow gear pair 514, the rotating speed of the driving sleeve is slow, so that speed reduction and distance increase are realized, and the whole crawler belt device 2 rotates slowly to realize obstacle crossing.
In this embodiment, as shown in fig. 4, two pairs of the crawler belt devices 2 and the transmission systems 5 are respectively arranged on two sides of the vehicle body 1; the two driving motors 42 respectively drive the two pairs of crawler belt devices 2 to act correspondingly; a pair of belt wheels 43 coaxially disposed are fixed to an output shaft of the driving motor 42, and transmit power to input ends (input discs of the dual clutches) of the two transmission systems 5 through two synchronous belt mechanisms, respectively. As shown in fig. 6, the timing belt mechanism is tensioned by a tensioning mechanism 41; the tensioning mechanism 41 comprises a bracket 411 fixed on the vehicle body 1, a tensioning wheel 413 and two tensioning toothed pulleys (412 and 415) positioned at two sides of the tensioning wheel 413; the wheel shaft of the tension wheel 413 is mounted on the bracket through a vertically arranged adjusting screw 414, and the position of the tension wheel 413 can be adjusted by rotating the adjusting screw 414, so that the synchronous belt is tensioned.
The above description of specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (3)
1. The utility model provides a crawler-type obstacle crossing vehicle which characterized in that: the device comprises a vehicle body, crawler units arranged on two sides of the vehicle body, a driving motor and a transmission system for transmitting the power of the driving motor to the crawler units;
the crawler device comprises a wheel frame, three crawler wheels distributed on the wheel frame, a crawler arranged around the three crawler wheels and a main driving wheel used for driving the crawler wheels to rotate in a belt transmission mode;
the transmission system comprises a double clutch; the output shaft of the driving motor is in transmission connection with the input end of the double clutch; the power output by the two output ends of the double clutch is respectively and correspondingly transmitted to the wheel carrier and the main driving wheel of the crawler device;
the transmission system also comprises a driving shaft connected with the main driving wheel through spline transmission and a driving sleeve sleeved on the driving shaft and mutually fixed with the wheel carrier; two output ends of the double clutch respectively transmit power to the driving shaft and the driving sleeve through a fast gear pair and a slow gear pair correspondingly;
the double clutch comprises a shell, a clutch body, an output shaft and an output sleeve, wherein the clutch body is rotatably supported on the shell; one end of the clutch body is fixedly connected with an input disc, and the other end of the clutch body is fixedly connected with a sealing end cover; an active friction disk I and an active friction disk II which are respectively arranged at two sides of the spacer ring are fixed on the inner circle of the clutch body; the output shaft and the output sleeve are respectively and fixedly connected with a driven friction disc I and a driven friction disc II correspondingly; two push discs I and II for pushing the driving friction disc and the driven friction disc to be combined are arranged on the two sides of the spacer ring back to back; the output shaft, the output sleeve and the clutch body are provided with a driving oil way I and a driving oil way II which are used for respectively driving the push disc I and the push disc II to act correspondingly; and the output sleeve and the output shaft respectively transmit power to the driving shaft and the driving sleeve through the fast gear pair and the slow gear pair correspondingly.
2. The track-type obstacle-surmounting vehicle of claim 1, wherein: the crawler device and the transmission system are provided with two pairs and are respectively arranged on two sides of the vehicle body; the two driving motors respectively drive the two pairs of crawler belt devices to act correspondingly; a pair of belt wheels which are coaxially arranged is fixed on an output shaft of the driving motor, and power is transmitted to the input ends of the two transmission systems through the two synchronous belt mechanisms respectively.
3. The track-type obstacle-surmounting vehicle of claim 2, wherein: the synchronous belt mechanism is tensioned through a tensioning mechanism; the tensioning mechanism comprises a bracket fixed on the vehicle body, a tensioning wheel and two tensioning toothed belt wheels positioned on two sides of the tensioning wheel; and the wheel shaft of the tension wheel is arranged on the bracket through a vertically arranged adjusting screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388212.1A CN113103862B (en) | 2021-04-10 | 2021-04-10 | Crawler-type obstacle crossing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388212.1A CN113103862B (en) | 2021-04-10 | 2021-04-10 | Crawler-type obstacle crossing vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113103862A CN113103862A (en) | 2021-07-13 |
| CN113103862B true CN113103862B (en) | 2022-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110388212.1A Active CN113103862B (en) | 2021-04-10 | 2021-04-10 | Crawler-type obstacle crossing vehicle |
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| CN (1) | CN113103862B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB280572A (en) * | 1926-11-13 | 1928-10-11 | Henry Bauchet | Improvements in or relating to friction clutches |
| GB914972A (en) * | 1960-07-19 | 1963-01-09 | Brown David Ind Ltd | An improvement in or relating to friction clutches |
| US3749213A (en) * | 1970-09-18 | 1973-07-31 | Luk Lamellen & Kupplungsbau | Friction clutch assembly |
| WO2004036085A1 (en) * | 2002-10-21 | 2004-04-29 | Ricardo Uk Limited | Gearboxes |
| DE602004006361D1 (en) * | 2003-12-13 | 2007-06-21 | Borgwarner Inc | Dual clutch transmission element for a hybrid vehicle propulsion system, method for the construction of the element and motor vehicle with such an element |
| CN101307830A (en) * | 2008-05-07 | 2008-11-19 | 重庆大学 | Planet wheel type double clutch automatic gear shifting device |
| WO2013088089A1 (en) * | 2011-12-16 | 2013-06-20 | Valeo Embrayages | Clutch with compensation for wear, notably for a motor vehicle |
| CN104141747A (en) * | 2014-07-25 | 2014-11-12 | 湖南农业大学 | Double-clutch-type hydraulic control stepless speed regulator for tracked vehicle |
| CN204641391U (en) * | 2015-05-19 | 2015-09-16 | 蒋望东 | A kind of double-clutch power assembly |
| CN105121886A (en) * | 2013-01-29 | 2015-12-02 | 福特全球技术公司 | Integrated cooling system for a dry dual clutch of a dual clutch transmission |
| FR3049023A1 (en) * | 2016-03-16 | 2017-09-22 | Valeo Embrayages | DOUBLE WET CLUTCH SUPPORTED ON ITS CONTROL SYSTEM |
| CN108619737A (en) * | 2018-03-21 | 2018-10-09 | 广州凯迪威文化股份有限公司广州分公司 | Full landform engineering vehicle model |
| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN110466631A (en) * | 2019-07-16 | 2019-11-19 | 江苏大学 | A kind of planet triangle crawler type walking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6175157B1 (en) * | 2016-03-02 | 2017-08-02 | 本田技研工業株式会社 | Vehicle transmission |
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2021
- 2021-04-10 CN CN202110388212.1A patent/CN113103862B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB280572A (en) * | 1926-11-13 | 1928-10-11 | Henry Bauchet | Improvements in or relating to friction clutches |
| GB914972A (en) * | 1960-07-19 | 1963-01-09 | Brown David Ind Ltd | An improvement in or relating to friction clutches |
| US3749213A (en) * | 1970-09-18 | 1973-07-31 | Luk Lamellen & Kupplungsbau | Friction clutch assembly |
| WO2004036085A1 (en) * | 2002-10-21 | 2004-04-29 | Ricardo Uk Limited | Gearboxes |
| DE602004006361D1 (en) * | 2003-12-13 | 2007-06-21 | Borgwarner Inc | Dual clutch transmission element for a hybrid vehicle propulsion system, method for the construction of the element and motor vehicle with such an element |
| CN101307830A (en) * | 2008-05-07 | 2008-11-19 | 重庆大学 | Planet wheel type double clutch automatic gear shifting device |
| WO2013088089A1 (en) * | 2011-12-16 | 2013-06-20 | Valeo Embrayages | Clutch with compensation for wear, notably for a motor vehicle |
| CN105121886A (en) * | 2013-01-29 | 2015-12-02 | 福特全球技术公司 | Integrated cooling system for a dry dual clutch of a dual clutch transmission |
| CN104141747A (en) * | 2014-07-25 | 2014-11-12 | 湖南农业大学 | Double-clutch-type hydraulic control stepless speed regulator for tracked vehicle |
| CN204641391U (en) * | 2015-05-19 | 2015-09-16 | 蒋望东 | A kind of double-clutch power assembly |
| FR3049023A1 (en) * | 2016-03-16 | 2017-09-22 | Valeo Embrayages | DOUBLE WET CLUTCH SUPPORTED ON ITS CONTROL SYSTEM |
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| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN110466631A (en) * | 2019-07-16 | 2019-11-19 | 江苏大学 | A kind of planet triangle crawler type walking mechanism |
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| Publication number | Publication date |
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| CN113103862A (en) | 2021-07-13 |
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