CN114394168B - Wheel-track composite moving platform - Google Patents
Wheel-track composite moving platform Download PDFInfo
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- CN114394168B CN114394168B CN202210139307.4A CN202210139307A CN114394168B CN 114394168 B CN114394168 B CN 114394168B CN 202210139307 A CN202210139307 A CN 202210139307A CN 114394168 B CN114394168 B CN 114394168B
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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Abstract
The invention discloses a wheel-track composite mobile platform which comprises a carrying platform, a front wheel driving system, a rear wheel driving system and a track wheel driving system capable of swinging, wherein the front wheel driving system, the rear wheel driving system and the track wheel driving system are positioned below the carrying platform, the track wheel driving system is arranged between the front wheel driving system and the rear wheel driving system, the front wheel driving system comprises a front wheel suspension and a front drive axle, the front wheel suspension is used for controlling the front drive axle to swing, the rear wheel driving system comprises a rear wheel suspension and a rear drive axle, the rear wheel suspension is used for controlling the rear drive axle to swing, and the front wheel suspension and the rear wheel suspension are mutually independent. The wheel-track composite mobile platform disclosed by the invention controls the swing of the front driving axle through the independent front wheel suspension and controls the swing of the rear driving axle through the independent rear wheel suspension, so that the purpose of adjusting the heights of the front wheel, the rear wheel and the track is realized, high obstacles can be overcome, the movement modes are diversified, the passing performance of the wheel-track composite mobile platform is good, the obstacle crossing capability is strong, and the wheel-track composite mobile platform can adapt to complex terrains.
Description
Technical Field
The invention relates to the technical field of engineering vehicles, in particular to a wheel-track composite mobile platform.
Background
Materials and personnel in the complex emergency rescue environment need to be transported through the engineering vehicle to operate. Due to the fact that the duty environment is complex, the requirement for all-terrain adaptability of the engineering vehicle is high.
In the related art, the engineering vehicle transportation platform is mainly divided into a wheel type chassis and a crawler type chassis. The wheel type chassis is mostly applied to urban environments, the robot mainly works in good road environments, and normal operation cannot be performed in non-structural terrain, stair climbing and other operation environments. The crawler-type chassis is mainly designed aiming at unstructured terrains and can effectively work on grasslands, snowfields, gravels and mud, but the transportation platforms are low in transmission efficiency and low in movement speed, and cannot meet the requirement of high-speed maneuvering.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present invention desirably provide a wheel-track composite mobile platform in which front and rear wheels and wheel tracks operate independently or cooperatively to improve obstacle crossing performance.
The technical scheme of the invention is realized as follows:
the utility model provides a wheel-track composite mobile platform, includes and shiies the platform and is located the front wheel actuating system, rear wheel actuating system and the athey wheel actuating system of the yaw angle under the platform of shiing, athey wheel actuating system locates front wheel actuating system with between the rear wheel actuating system, front wheel actuating system includes front wheel suspension and front drive axle, front wheel suspension is used for controlling the swing of front drive axle, rear wheel actuating system includes rear wheel suspension and rear drive axle, rear wheel suspension is used for controlling the swing of rear drive axle, front wheel suspension with the rear wheel suspension is independent each other.
Preferably, the front wheel suspension includes a front wheel frame fixed below the carrying platform, two ends of the front wheel frame are respectively connected with the front wheel swing arm on the front wheel frame and the front driving axle in a rotating manner, and two ends of the front wheel frame are respectively connected with the front wheel telescopic rod on the front wheel swing arm, the front driving axle is connected with the front wheel swing arm, and the front wheel telescopic rod is driven by the front wheel telescopic rod to move in a telescopic manner to drive the front wheel swing arm to swing so as to drive the front driving axle to swing.
Preferably, the front wheel telescopic rod is a hydraulic cylinder, an electric push rod or an air cylinder.
Preferably, the front wheel frame is a hollow square steel which is arranged in a bending mode, the front wheel swing arm is an arc-shaped square steel, one end of the front wheel telescopic rod is rotatably connected into the front wheel frame, and the other end of the front wheel telescopic rod is rotatably connected into the front wheel swing arm.
Preferably, the rear wheel suspension comprises a rear wheel frame fixed below the carrying platform, a rear wheel swing arm with two ends respectively connected to the rear wheel frame and the rear drive axle in a rotating manner, and a rear wheel telescopic rod with two ends respectively connected to the carrying platform and the rear wheel swing arm, wherein the rear wheel telescopic rod is in telescopic motion and drives the rear wheel swing arm to swing so as to drive the rear drive axle to swing.
Preferably, the rear wheel telescopic rod is a hydraulic cylinder, an electric push rod or an air cylinder.
Preferably, the crawler wheel actuating system includes walking beam and crawler wheel telescopic link, the walking beam with the one end of crawler wheel telescopic link rotates respectively to be connected transport platform bottom, the other end rotate respectively connect in on the crawler wheel, the crawler wheel telescopic link drives when flexible the crawler wheel swing.
Preferably, the crawler wheel telescopic rods are two groups which are arranged in a central symmetry mode, and the two groups of crawler wheel telescopic rods arranged in the front and at the back change different lengths so as to control the inclination angle of the crawler wheels.
Preferably, the traction and steering device comprises a traction assembly and a steering mechanism connected with the traction assembly, the traction assembly is connected below the carrying table, and the steering mechanism drives the traction assembly to move.
Preferably, the steering mechanism comprises a bogie and a steering telescopic rod fixed on the bogie, two ends of the steering telescopic rod are respectively fixed below the carrying platform through spherical hinges, and the bogie is in pivot connection with the traction assembly.
The wheel-track composite mobile platform provided by the embodiment of the invention controls the front drive axle to swing through the independent front wheel suspension, controls the rear drive axle to swing through the independent rear wheel suspension, and is matched with the crawler wheel driving system with a swinging angle to form a mode of independent operation of front and rear wheels or cooperation of the front and rear wheels with the wheel track.
Drawings
Fig. 1 is a schematic structural view of a wheel-track composite mobile platform provided by the invention;
FIG. 2 is a schematic structural view of the front wheel drive system shown in FIG. 1;
FIG. 3 is a schematic structural view of the rear wheel drive system shown in FIG. 1;
FIG. 4 is a schematic illustration of the construction of the traction steering arrangement shown in FIG. 1;
FIG. 5 is a front and rear wheel driving state diagram of the wheel-track composite mobile platform shown in FIG. 1;
FIG. 6 is a track wheel driving state diagram of the wheel-track composite mobile platform shown in FIG. 1;
FIG. 7 is a wheel-track simultaneous driving state diagram of the wheel-track composite mobile platform shown in FIG. 1;
fig. 8 is a driving state diagram of the wheel-track composite mobile platform shown in fig. 1 in the obstacle crossing process.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or technical solutions in the prior art, 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Please refer to fig. 1-3. This wheel-track composite mobile platform is including carrying platform 1 and being located front wheel actuating system 3, rear wheel actuating system 5 and the crawler wheel actuating system 7 that can swing the angle under carrying platform 1, crawler wheel actuating system 7 locates front wheel actuating system 3 with between the rear wheel actuating system 5, front wheel actuating system 3 includes front wheel suspension 31 and front drive axle 33, front wheel suspension 31 is connected carry platform 1 below and is used for control front drive axle 33 swings, rear wheel actuating system 5 includes rear wheel suspension 51 and rear drive axle 53, rear wheel suspension 51 is connected carry platform 1 below and is used for control rear drive axle 53 swings, front wheel suspension 31 with rear wheel suspension 51 is independent each other. The front driving axle 33 is controlled to swing through the independent front wheel suspension 31, the rear driving axle 53 is controlled to swing through the independent rear wheel suspension 51, the crawler wheel driving system 7 capable of swinging angles is matched to form a mode of independent operation of front and rear wheels or cooperation of the front and rear wheels with a crawler wheel, the structure of the crawler wheel composite mobile platform is flexible, the front driving axle 33, the rear driving axle 53 and the crawler wheel driving system 7 change the ground clearance of the front and rear wheels and the crawler wheel in the swinging process, the purpose of adjusting the heights of the front and rear wheels and the crawler wheel is achieved, high obstacles can be crossed, the moving mode is diversified, the passing performance of the crawler wheel composite mobile platform is good, the obstacle crossing capability is strong, and the crawler wheel composite mobile platform can adapt to complex terrains.
Referring to fig. 2, the front wheel suspension 31 includes a front wheel frame 35 fixed below the carrying platform 1, a front wheel swing arm 37 with two ends respectively rotatably connected to the front wheel frame 35 and the front driving axle 33, and a front wheel telescopic rod 39 with two ends respectively connected to the front wheel frame 35 and the front wheel swing arm 37, the front driving axle 33 is connected to the front wheel swing arm 37, the front wheel telescopic rod 39 makes telescopic motion to drive the front wheel swing arm 37 to swing so as to drive the front driving axle to swing, thereby realizing the lifting of the front driving axle 33, i.e. the lifting or lowering of the height of the front driving axle. When the front wheel telescopic rod 39 does telescopic motion, the front wheel swing arm 37 rotates around a hinge point to drive the front drive axle 33 to swing around the joint with the front wheel swing arm 37. The front drive axle 33 swings, and the ground clearance of the front wheels is changed in the swinging process of the front drive axle 33, so that the purpose of adjusting the height is achieved, high obstacles can be crossed, the structure is flexible, the obstacle crossing capability is good, and the front drive axle 33 can adapt to complex terrains.
Specifically, in this embodiment, the front wheel telescopic rod 39 is a hydraulic cylinder, an electric push rod or an air cylinder. Preferably, in this embodiment, the front wheel telescopic rod 39 is a hydraulic cylinder. The hydraulic cylinder extends and retracts under the control of the controller, so that the swing controlled by the hydraulic suspension is formed to enable the wheels to run stably, independent front wheel operation is realized, and the hydraulic suspension is not linked with the movement of the rear wheels.
The front wheel frame 35 is a hollow square steel which is arranged in a bending mode, the front wheel swing arm 37 is an arc-shaped square steel, one end of the front wheel telescopic rod 39 is rotatably connected into the front wheel frame 35, and the other end of the front wheel telescopic rod is rotatably connected into the front wheel swing arm 37, so that the structure is more compact. The front wheel frame 35 and the front wheel swing arms 37 are connected to form an included angle, the included angle between the front wheel swing arms 37 and the front wheel frame 35 is the swing amplitude of the front wheel swing arms 37, when the front wheel swing arms swing and are folded, the front wheel swing arms can be partially tightened in the front wheel frame, and the structure is compact and is convenient for joint movement of all structures. The front wheel swing arms are driven by independent hydraulic cylinders and can independently operate or operate in a combined mode.
The front driving axles 33 are divided into a left group and a right group, the two groups of front driving axles 33 are separated from each other, and the front driving axles are independently arranged and can independently operate or be combined with other operations. Each set of front drive axles 33 includes a hydraulic motor, a clutch and front wheels. The hydraulic motor drives the front wheel to rotate through the clutch.
Referring to fig. 3, the rear wheel suspension 51 includes a rear wheel frame 55 fixed below the carrying platform 1, a rear wheel swing arm 57 having two ends respectively rotatably connected to the rear wheel frame 55 and the rear drive axle 53, and a rear wheel telescopic rod 59 having two ends respectively connected to the carrying platform 1 and the rear wheel swing arm 57, wherein the rear wheel telescopic rod 59 makes telescopic motion to drive the rear wheel swing arm to swing so as to drive the rear drive axle 53 to swing. When the rear wheel telescopic rod 59 makes telescopic motion, the rear wheel swing arm 57 rotates around the hinge point to drive the rear drive axle 53 to swing around the joint with the rear wheel swing arm 57. The swing of the rear drive axle 53 is realized, the ground clearance of the rear wheel is changed in the swing process, the purpose of adjusting the height is realized, high obstacles can be crossed in the lifting process of the rear wheel, the structure is flexible, the obstacle crossing capability is good, and the device can adapt to complex terrains. It should be noted that the rear wheel swing arms are controlled to act through independent hydraulic cylinders, can independently operate, and can also operate in combination with the front wheel swing arms, so that the operation mode is more flexible and changeable.
Specifically, in this embodiment, the rear wheel telescopic rod 59 is a hydraulic cylinder, an electric push rod or an air cylinder. Preferably, in this embodiment, the rear wheel telescopic rod 59 is a hydraulic cylinder. The hydraulic cylinder extends and retracts under the control of the controller, so that a swing type wheel controlled by a hydraulic suspension is formed, the operation is stable, the independent front wheel operation is realized, and the linkage operation with the front wheel is avoided.
The rear drive axles 53 are divided into two left and right groups, the two groups of rear drive axles 53 are separated from each other, and each group of rear drive axles 53 comprises a hydraulic motor, a clutch and rear wheels. The hydraulic motor drives the rear wheel to rotate through the clutch.
Referring to fig. 1 and 5, the crawler wheel driving system 7 includes a swing beam 71 and a crawler wheel telescopic rod 73, one end of the swing beam 71 and one end of the crawler wheel telescopic rod 73 are respectively and rotatably connected to the bottom of the carrying platform 1, the other end of the swing beam is respectively and rotatably connected to the crawler wheel, and the crawler wheel telescopic rod 73 drives the crawler wheel to swing when being extended and retracted. The swing beam 71 is rotatably connected to the carrying platform 1 and the crawler wheels and plays a role in flexibly connecting the carrying platform 1 and the crawler wheels, and when the telescopic rod is extended or shortened, the crawler wheels change different swing angles, so that the high obstacle can be spanned, the obstacle crossing performance is good, and the obstacle crossing device is suitable for complex terrains.
The crawler wheel telescopic rods 73 are two groups which are arranged in a central symmetry manner, and the crawler wheel telescopic rods 73 arranged in the front and back are changed in different lengths to control different inclination angles of the crawler wheels, so that different types of obstacles can be spanned. The crawler wheel telescopic rods are hydraulic cylinders, and the crawler wheel telescopic rods are two hydraulic cylinders. The front crawler wheel telescopic rod 73 is extended, when the rear crawler wheel telescopic rod 73 is shortened, the crawler wheels tilt backwards, and conversely, when the front crawler wheel telescopic rod 73 is shortened, when the rear crawler wheel telescopic rod 73 is extended, the crawler wheels tilt forwards. The inclined angle is controlled through the change of different lengths, so that the crawler wheels can span high obstacles, the obstacle crossing performance is good, and the crawler wheels are suitable for complex terrains.
Referring to fig. 5, in the non-obstacle normal driving state and the tire driving state, the front wheel and the rear wheel are simultaneously lowered to land, and the track wheel is separated from the ground, so as to realize the tire driving function.
Referring to fig. 6, in a driving state of the track wheel, the front and rear wheels are lifted off the ground, and the track wheel contacts the ground, so as to realize a driving function of the track wheel.
Referring to fig. 7 and 8, in the wheel-track simultaneous transmission driving state, the wheels are lifted to a proper height, and the tires and the track wheels simultaneously contact the ground, so that the wheel-track simultaneous driving function is realized. The wheel-track cooperation obstacle crossing device is used for crossing vertical obstacles in a wheel-track cooperation obstacle crossing driving state, and the operation process is as follows: the rear wheel driving system 5 is kept in the original state, the crawler wheel telescopic rod 73 of the crawler wheel driving system 7 extends, the crawler wheel lands, the front wheel suspension 31 retracts, the front driving axle 33 swings and raises, the front end of the mobile platform integrally raises, the front end of the mobile platform moves to an obstacle, after the mobile platform moves for a certain distance, the crawler wheel telescopic rod 73 retracts, the height of the crawler wheel is increased, the crawler wheel moves to the obstacle, the rear wheel suspension 51 extends, after the mobile platform continues to move for a certain distance, all crawler wheels run on the obstacle, the rear wheel suspension 51 retracts, the rear wheel lifts off the ground, the mobile platform continues to move, and all the mobile platform runs on the obstacle to achieve obstacle crossing. In the obstacle crossing process, the front wheels, the rear wheels and the crawler wheels are independently controlled, independent operation is achieved, and obstacle crossing is achieved according to different working condition requirements.
In another embodiment, referring to fig. 4, the wheel-track composite mobile platform further includes a traction steering device 9, the traction device is disposed at the front end of the carrying platform 1, the traction steering device 9 includes a traction assembly 91 and a steering mechanism 93 connected to the traction assembly 91, the traction assembly 91 is connected to the carrying platform 1, and the steering mechanism 93 drives the traction assembly 91 to move. The steering mechanism 93 changes the telescopic length under the control of the controller, so that the traction assembly 91 is pushed to rotate to realize the steering of the whole wheel-track composite mobile platform, and the structure is flexible.
The traction assembly 91 comprises a traction rod 95 and a mounting bracket 96, the mounting bracket 96 is fixed below the carrying platform 1, one end of the traction rod 95 is pivoted on the mounting bracket 96, the other end of the traction rod is connected to a vehicle head, the vehicle head pulls the wheel-track composite moving platform through the traction rod 95, so that traction running is realized, and after the traction rod 95 is disassembled, the vehicle head in front can run by itself.
The steering mechanism 93 comprises a bogie 97 and a steering telescopic rod 99 fixed on the bogie 97, two ends of the steering telescopic rod 99 are respectively fixed below the carrying platform 1 through spherical hinge connection, and the bogie 97 is pivotally connected with the traction rod 95 of the traction assembly 91. The steering telescopic rod 99 is a hydraulic cylinder, the steering angle of the bogie 97 is reflected to the steering telescopic rod 99 through a lever, no power is connected during traction running, and wheels are pushed to steer according to the angle change of the traction rod 95. In the case of automatic driving, power is connected, and the steering angle is controlled by the controller. Moreover, by arranging the traction steering device, binding reinforcing points can be arranged, and the device is suitable for air transportation and air drop and helicopter external hanging transportation.
The wheel-track composite mobile platform provided by the embodiment of the invention controls the front drive axle to swing through the independent front wheel suspension, controls the rear drive axle to swing through the independent rear wheel suspension, and is matched with the crawler wheel driving system with a swinging angle to form a mode of respectively and independently operating the front wheel and the rear wheel or cooperatively operating the front wheel and the rear wheel with the wheel track.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A wheel-track composite mobile platform is characterized by comprising a carrying platform, a front wheel driving system, a rear wheel driving system and a tiltable crawler wheel driving system, wherein the front wheel driving system, the rear wheel driving system and the tiltable crawler wheel driving system are positioned below the carrying platform, the crawler wheel driving system is arranged between the front wheel driving system and the rear wheel driving system, the front wheel driving system comprises a front wheel suspension and a front driving axle, the front wheel suspension is used for controlling the front driving axle to swing, the rear wheel driving system comprises a rear wheel suspension and a rear driving axle, the rear wheel suspension is used for controlling the rear driving axle to swing, and the front wheel suspension and the rear wheel suspension are independent from each other;
the front wheel suspension comprises a front wheel frame fixed below the carrying table, a front wheel swing arm with two ends respectively connected to the front wheel frame and the front drive axle in a rotating mode, and a front wheel telescopic rod with two ends respectively connected to the front wheel frame and the front wheel swing arm, the front drive axle is connected to the front wheel swing arm, and the front wheel telescopic rod conducts telescopic motion to drive the front wheel swing arm to swing so as to drive the front drive axle to swing;
the rear wheel suspension comprises a rear wheel frame fixed below the carrying platform, a rear wheel swing arm with two ends respectively connected to the rear wheel frame and the rear drive axle in a rotating manner, and a rear wheel telescopic rod with two ends respectively connected to the carrying platform and the rear wheel swing arm, and the rear wheel telescopic rod makes telescopic motion to drive the rear wheel swing arm to swing so as to drive the rear drive axle to swing;
the crawler wheel driving system comprises a swing beam and a crawler wheel telescopic rod, one end of the swing beam and one end of the crawler wheel telescopic rod are respectively and rotatably connected to the bottom of the carrying platform, the other end of the swing beam and the other end of the crawler wheel telescopic rod are respectively and rotatably connected to the crawler wheel, and the crawler wheel telescopic rod drives the crawler wheel to swing when being stretched;
the crawler wheel telescopic rods are two groups which are arranged in a central symmetry manner, and the two groups of crawler wheel telescopic rods which are arranged in the front and back manner change different lengths so as to control the inclination angle of the crawler wheels;
the operation process in the obstacle crossing driving state is as follows: the rear wheel driving system is kept in an original state, a track wheel telescopic rod of the track wheel driving system extends, a track wheel lands, a front wheel suspension retracts, a front driving axle swings and is lifted, the front end of a carrying table is integrally lifted, the front end of the carrying table moves to an obstacle, after the carrying table moves for a certain distance, the track wheel telescopic rod retracts for a length, the height of the track wheel is increased, the track wheel moves to the obstacle, a rear wheel suspension extends, after the carrying table continues to move for a certain distance, a wheel and a track all run on the obstacle, the rear wheel suspension retracts, the rear wheel lifts off the ground, the carrying table continues to move forwards, and the carrying table all runs on the obstacle to achieve obstacle crossing.
2. The wheel-track composite mobile platform according to claim 1, wherein the front wheel telescopic rod is a hydraulic cylinder, an electric push rod or an air cylinder.
3. The wheel-track composite mobile platform according to claim 1, wherein the front wheel frame is a hollow square steel which is arranged in a bending manner, the front wheel swing arm is an arc square steel, one end of the front wheel telescopic rod is rotatably connected in the front wheel frame, and the other end of the front wheel telescopic rod is rotatably connected to the front wheel swing arm.
4. The wheel-track composite mobile platform of claim 1, wherein the rear wheel telescopic rod is a hydraulic cylinder, an electric push rod or an air cylinder.
5. The wheel-track composite mobile platform according to any one of claims 1 to 4, further comprising a traction steering device, wherein the traction steering device comprises a traction assembly and a steering mechanism connected with the traction assembly, the traction assembly is connected below the carrying platform, and the steering mechanism drives the traction assembly to move.
6. The wheel-track composite mobile platform as claimed in claim 5, wherein the steering mechanism comprises a bogie and a telescopic steering rod fixed on the bogie, two ends of the telescopic steering rod are respectively fixed below the carrying platform through spherical hinges, and the bogie is pivotally connected with the traction assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210139307.4A CN114394168B (en) | 2022-02-15 | 2022-02-15 | Wheel-track composite moving platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210139307.4A CN114394168B (en) | 2022-02-15 | 2022-02-15 | Wheel-track composite moving platform |
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| CN114394168A CN114394168A (en) | 2022-04-26 |
| CN114394168B true CN114394168B (en) | 2023-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210139307.4A Active CN114394168B (en) | 2022-02-15 | 2022-02-15 | Wheel-track composite moving platform |
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| CN113086033A (en) * | 2021-04-25 | 2021-07-09 | 七斗科技(宜昌)有限公司 | Horizontal low-attitude stair climbing robot and stair climbing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE540523C2 (en) * | 2016-11-18 | 2018-09-25 | Bae Systems Haegglunds Ab | Tracked vehicle arranged with pivotable bogie |
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|---|---|---|---|---|
| JP2002120531A (en) * | 2000-08-09 | 2002-04-23 | Kobelco Contstruction Machinery Ltd | Work vehicle for track |
| JP2002205668A (en) * | 2001-01-12 | 2002-07-23 | Kubota Corp | Attitude control device for working vehicle |
| CN201619622U (en) * | 2009-11-11 | 2010-11-03 | 浙江圣普电梯有限公司 | Robot composite chassis |
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| CN114394168A (en) | 2022-04-26 |
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