CN114590334B - Four-wheel drive deformation wheel control method and system - Google Patents
Four-wheel drive deformation wheel control method and system Download PDFInfo
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- CN114590334B CN114590334B CN202210201028.6A CN202210201028A CN114590334B CN 114590334 B CN114590334 B CN 114590334B CN 202210201028 A CN202210201028 A CN 202210201028A CN 114590334 B CN114590334 B CN 114590334B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a method and a system for controlling a four-wheel drive deformation wheel, wherein the method comprises the following steps: acquiring a signal of the deformation angle of the front wheel on the left side, instructing the left driving valve to close, and stopping the two wheels on the left side; controlling the deformation valve plate to be filled with oil, and simultaneously operating the deformation oil cylinders of the four deformation wheels; when a signal that the deformation oil cylinder extends out and finishes deformation action is received, the gear shifting valve is instructed to feed oil to enable the left front gear shifting oil cylinder to extend out to perform power gear shifting of the driving motor; when a signal after the gear shifting action is finished is received, the left driving valve is instructed to drive the oil to rotate; acquiring a signal of a deformation angle of the left rear wheel, and instructing a switching oil cylinder of the left rear wheel to act to perform gear shifting action after instructing a left driving valve to stop rotating; the command supporting leg valve controls the four supporting leg oil cylinders to extend out; the deformation valve plate is instructed to simultaneously control the deformation oil cylinders of the four wheels to act, and the deformation process is finished; the technical problems that four deformation wheels of a novel four-wheel-drive deformation wheel chassis need specific deformation angles under the control of two handles and the contact angle of the four deformed wheels is consistent are solved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a four-wheel-drive deformation wheel control method and a four-wheel-drive deformation wheel control system.
Background
The engineering machinery generally adopts a crawler chassis as a driving unit, and has small crawler grounding specific pressure, strong terrain adaptability and lower speed, and cannot meet the situation with higher requirement on equipment maneuverability. The moving speed of the tire chassis is high, but the ground contact specific pressure is high, and the tire chassis is easy to sink under the working condition of a soft road surface. At present, a novel driving unit named as a deformation wheel appears at home and abroad, and has two mode switching functions. Can be switched between a tire mode and a crawler mode, and meets the requirements of loaded equipment on high-speed walking, improvement of passing capacity and obstacle crossing capacity. The problem that easily occurs by adopting the four-wheel drive mechanism is that the four wheels are asynchronous. The deformation wheel chassis has the action of four-wheel deformation, namely wheel type and crawler belt mode switching on the basis of four-wheel drive, and after the deformation wheel chassis walks for a certain distance, the four deformation wheels are accurately deformed when reaching a specific wheel angle in a mode of common two-handle control, so that the control is more complicated.
Disclosure of Invention
The invention aims to provide a four-wheel-drive deformation wheel control method and a four-wheel-drive deformation wheel control system, which solve the technical problems that four deformation wheels of a novel four-wheel-drive deformation wheel chassis need specific deformation angles under the control of two handles and the ground contact angles of the four deformed wheels are consistent.
The invention adopts the following technical scheme for realizing the aim of the invention:
the invention provides a four-wheel drive deformation wheel control method, which comprises the following steps:
controlling the support leg valve to drive the four support leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
controlling the left driving valve and the right driving valve to correspondingly drive the left two wheels and the right two wheels to rotate simultaneously to find a deformation angle;
acquiring a signal of the deformation angle of the front wheel on the left side, instructing the left driving valve to close, and stopping the two wheels on the left side;
controlling the deformation valve plate to be filled with oil, and simultaneously operating the deformation oil cylinders of the four deformation wheels;
when a signal that the deformation oil cylinder extends to complete the deformation action is received, a first oil passage of a gear shifting valve is instructed to enable a left front alternate gear oil cylinder to extend to perform power gear shifting of a driving motor;
when a signal after the gear shifting action is finished is received, a left driving valve is instructed to feed oil to rotate, at the moment, the left front wheel is in a deformed triangular crawler belt mode, and the left rear wheel is subjected to triangular deformation;
acquiring a signal of a deformation angle of the left rear wheel, and instructing a switching oil cylinder of the left rear wheel to act to perform gear shifting action after instructing a left driving valve to stop rotating until the gear shifting action is finished;
when the triangular crawler belt mode is switched to the round tire mode, the command leg valve controls the four leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
the deformation valve plate is instructed to simultaneously control the deformation oil cylinders of the four wheels to act, and the deformation process is completed;
when the signals after the deformation is finished are received, the first gear shifting valve, the second gear shifting valve, the third gear shifting valve and the fourth gear shifting valve are instructed to perform gear shifting actions simultaneously until the gear shifting is finished, and therefore the four-wheel deformation of the whole chassis is achieved.
The invention provides a four-wheel drive deformation wheel control system which comprises a controller, a support leg valve, a left driving valve, a right driving valve, a deformation valve plate, a first gear shifting valve, a second gear shifting valve, a third gear shifting valve, a fourth gear shifting valve and a proximity switch, wherein the support leg valve is connected with the left driving valve;
the controller instructs the left driving valve to close and two wheels on the left side to stall;
the controller controls the deformation valve plate to be filled with oil, the deformation oil cylinders of the four deformation wheels simultaneously act, and after the deformation oil cylinders stretch out to finish the deformation action, signals are sent to the controller through the corresponding linear switches to indicate that the deformation is finished;
the controller instructs the gear shifting valve to feed oil to enable the left front gear shifting oil cylinder to extend out to drive the motor to shift gears, after the corresponding linear switch is powered on to send out a signal to indicate that the gear shifting action is finished, the controller instructs the left driving valve to feed oil to rotate, at the moment, the left front wheel is in a deformed triangular crawler belt mode, and the left rear wheel is subjected to triangular deformation;
when the left rear wheel reaches a deformable angle, the approach switch of the left rear wheel sends an instruction to the controller, the controller instructs the left driving valve to stop rotating and instructs the switching oil cylinder of the left rear wheel to act to perform gear shifting, and after the action is completed, the corresponding linear switch is electrified to send an instruction to the controller to indicate that the gear shifting is completed;
when the triangular crawler mode is switched to the round tire mode, the controller instructs the leg valves to control the four leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
the controller instructs the deformation valve plates to simultaneously control the deformation oil cylinders of the four wheels to act to complete the deformation process, after the corresponding linear switches are electrified to indicate that the deformation is completed, the controller instructs the first gear shift valve, the second gear shift valve, the third gear shift valve and the fourth gear shift valve to simultaneously shift gears, after the corresponding four linear switches are electrified to indicate that the gear shifting is completed, and the four-wheel deformation process of the whole chassis is completed.
Further, the four-wheel drive deformation wheel control system further comprises a left flow dividing valve;
the left driving valve and the left flow dividing valve are connected in series to drive two deformation wheels on the left side of the chassis to walk.
Further, the four-wheel-drive deformation wheel control system further comprises a right flow dividing valve;
the right driving valve and the right shunt valve are connected in series to drive two deformation wheels on the right side of the chassis to walk.
Furthermore, the support leg valve, the left driving valve, the left shunt valve, the right driving valve, the right shunt valve, the deformable valve plate, the first gear shifting valve, the second gear shifting valve, the third gear shifting valve and the fourth gear shifting valve are all electromagnetic proportional valves.
Further, the four-wheel drive deformation wheel control system further comprises an encoder;
the encoder is used for detecting the rotating speed of the deforming wheel driving motor and transmitting the detected data to the controller.
The invention has the following beneficial effects:
the invention provides a four-wheel-drive deformation wheel control method and a four-wheel-drive deformation wheel control system, which solve the technical problems that four deformation wheels of a novel four-wheel-drive deformation wheel chassis need specific deformation angles under the control of two handles and the ground contact angles of the four deformed wheels are consistent.
Drawings
Fig. 1 is a structural diagram of a four-wheel drive deforming wheel chassis in a four-wheel drive deforming wheel control method and system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a deformation wheel structure in a four-wheel drive deformation wheel control method and system according to an embodiment of the present invention;
fig. 3 is a functional block diagram of a four-wheel drive deforming wheel control method and system according to an embodiment of the invention.
Detailed Description
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Furthermore, the terms "mounted," "disposed," "connected," and "coupled" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
As shown in fig. 3, the invention provides a four-wheel drive deformable wheel control system, which comprises a controller 1, a support leg valve 2, a left driving valve 3, a left shunt valve 4, a right driving valve 5, a right shunt valve 6, a deformable valve plate 7, a first shift valve 8, a second shift valve 9, a third shift valve 10, a fourth shift valve 11, an encoder 12, a proximity switch 13, a first linear switch 14 and a second linear switch 15.
The oil support leg valve 2, the left driving valve 3, the left shunt valve 4, the right driving valve 5, the right shunt valve 6, the deformable valve plate 7, the first gear shifting valve 8, the second gear shifting valve 9, the third gear shifting valve 10 and the fourth gear shifting valve 11 are all electromagnetic proportional valves.
The controller 1 can output analog signals to respectively control the opening and closing of the support leg valve 2, the left driving valve 3, the right driving valve 5, the deformable valve plate 7, the first gear shifting valve 8, the second gear shifting valve 9, the third gear shifting valve 10 and the fourth gear shifting valve 11 and the opening degree of the valve ports, so that the flow control purpose is achieved.
The controller 1 can receive feedback signals of sensing elements such as the encoder 12, the proximity switch 13, the linear switch I14, the linear switch II 15 and the like, and perform logic operation to achieve the purpose of closed-loop control.
The left driving valve 3 and the left shunt valve 4 are connected in series to drive two deformation wheels on the left side of the chassis to walk, and the shunt valve can ensure that two wheels of the left front wheel and the left rear wheel rotate at the same speed.
The right driving valve 5 and the right shunt valve 6 are connected in series to drive two deformation wheels on the right side of the chassis to walk, and the shunt valve can ensure that two wheels of the right front wheel and the right rear wheel rotate at the same speed.
The deformation valve plate 7 can supply four deformation wheel oil cylinders connected in parallel, and the structural switching of a deformation wheel type mode and a crawler type mode is achieved.
The first gear shifting valve 8, the second gear shifting valve 9, the third gear shifting valve 10 and the fourth gear shifting valve 11 respectively and independently control the gear shifting oil cylinders of the four deformation wheels.
The encoder 12 detects the rotational speed of the deforming wheel driving motor and transmits data to the controller 1.
The proximity switch 13 is used for detecting the phase angle position of the hub of the deformation wheel, and transmitting a switching signal to the controller 1 for judging whether the deformation condition is met.
The first linear switch 14 and the second linear switch 15 respectively transmit the information of the deformation oil cylinder in place and the information of the gear shifting oil cylinder in place to the controller 1.
As shown in fig. 1, the four-wheel drive deforming wheel comprises a chassis 001, and four deforming wheels 002 are installed at the bottom corners of the chassis 001.
The invention provides a four-wheel drive deformation wheel control method, taking the process of switching a circular tire mode to a triangular crawler belt mode as an example, comprising the following steps:
firstly, the four supporting leg oil cylinders are controlled by the supporting leg valve 2 to extend out, so that the four wheels are prepared for deformation from the ground;
the left driving valve 3 and the right driving valve 5 respectively control the left two wheels and the right two wheels to rotate simultaneously to find a deformation angle, for example, the left front wheel reaches the deformable angle first, and the corresponding proximity switch 13 sends a signal to the controller 1;
the controller 1 instructs the left driving valve to close, two wheels on the left side stop rotating, the controller 1 controls the deformation valve plate 7 to feed oil, the deformation oil cylinders of the four deformation wheels simultaneously act, and when the oil cylinders extend out to finish deformation, the linear switch I14 sends a signal to the controller 1 to indicate that the deformation is finished;
the controller 1 instructs the first gear shifting valve to feed oil to enable the left front gear shifting oil cylinder to extend out to drive the motor to shift gears, the second linear switch 15 is powered on to send out a signal to indicate that the gear shifting action is finished, the controller 1 instructs the left driving valve 3 to feed oil to rotate, at the moment, the left front wheel is in a deformed triangular crawler belt output state, and the left rear wheel is subjected to triangular deformation;
however, the angle of the front wheel and the angle of the rear wheel are different from that of the left front wheel due to the accumulation of the rotation speed errors of the front wheel and the rear wheel, the gear shifting is still in a circular hub state at the moment, the triangular crawler belt rotates around the geometric center integrally to continuously search for the deformation angle, after the left rear wheel reaches the deformable angle, the proximity switch 13 of the left rear wheel sends an instruction to the controller 1, the controller 1 instructs the left driving valve 3 to stop rotating and instructs the switching oil cylinder of the left rear wheel to act to perform gear shifting, after the action is completed, the second linear switch 15 is powered on to send an instruction to the controller 1 to indicate that the gear shifting is completed, and the deformation processes of the left side and the right side are performed synchronously.
When the triangular crawler belt mode is switched to the round tire mode, no specific requirement is made on the rotation angle of the wheel. The controller 1 can instruct the supporting leg valve 2 to control the four supporting leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
then, the controller 1 instructs the deformation valve plate 7 to simultaneously control the deformation oil cylinders of the four wheels to act to complete the deformation process, the controller 1 instructs the first gear shifting valve 8, the second gear shifting valve 9, the third gear shifting valve 10 and the fourth gear shifting valve 11 to simultaneously perform gear shifting action after the first linear switch 14 is electrified to indicate that the deformation is completed, the four linear switches 15 are electrified to indicate that the gear shifting is completed, and the four-wheel deformation process of the whole chassis is completed;
therefore, the four-wheel automatic deformation process is completed under the condition of not increasing hardware required by human control.
The above embodiments can be seen in that the patented method enables automation of the deformation process for a particular four-wheel drive deforming wheel. And the manual control process is not required to be added, the control difficulty is reduced, and the deformation switching precision and efficiency are improved.
To clearly express the method and system of the present invention, the structural form of the controlled object deformation wheel is described, as shown in the transformation wheel switching schematic diagram of fig. 2, the main structure includes: a driving motor 00208, a driving main shaft 00206, a circular hub 00202, a triangular hub 00203, a small traction wheel 00204, an outer-layer crawler belt 00201, a deformation oil cylinder 00205, a shift oil cylinder 00210, an encoder 00209, a proximity switch 13, a linear switch 00211 and the like. The driving motor 00208 provides power for the traveling of the deformation wheel as torque and rotating speed output ends, the gear shifting oil cylinder 00210 drives a driving spindle 00206 which is always connected with the driving motor 00208 to be meshed with the triangular wheel hub 00203 or the circular wheel hub 00202 respectively through stretching, and power shunting is achieved. Three deformation hydro-cylinders 00205 stretch out and expand with the articulated traction steamboat 00204 of deformation hydro-cylinder 00205 and become outer crawler belt 00201 and be the triangle state, and drive main shaft 00206 inserts triangle wheel hub 00203, has in the triangle wheel hub 00203 with the equidirectional bevel gear mechanism of deformation hydro-cylinder 00205 with rotatory main shaft's power transmission to the traction steamboat, the traction steamboat is around self wheel center rotation drive outer crawler belt 00201 and rotate. At the moment, the triangular hub 00203 and the chassis are locked and have no degree of freedom, but a specific initial deformation angle is required, namely the bottom edge of the triangular state is parallel to the ground, so that the effect of outputting the crawler belt is achieved. When the deformation oil cylinder retracts, the connecting rod structures on the traction small wheel 00204 and the circular wheel hub 00202 can form a structure with a circular outline, at the moment, the gear shifting oil cylinder 00210 is recovered, and the driving spindle is connected with the driving motor 00208 and the circular wheel hub 00202. The circular hub 00202 revolves around the hub center to achieve the output effect of the tire. In the process, the proximity switch 13 is used for detecting a suitable deformation starting angle, the encoder 00209 is used for detecting the rotating speed output of the driving motor 00208, and the linear switch 00211 comprises a linear switch I14 and a linear switch II 15 which are respectively arranged on the deformation oil cylinder 00205 and the gear shifting oil cylinder 00210 and used for detecting deformation and gear shifting in place.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method of controlling a four-wheel drive deforming wheel, the method comprising:
controlling the support leg valve to drive the four support leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
controlling the left driving valve and the right driving valve to correspondingly drive the left two wheels and the right two wheels to rotate simultaneously to find a deformation angle;
acquiring a signal of the deformation angle of the front wheel on the left side, instructing the left driving valve to close, and stopping the two wheels on the left side;
controlling the deformation valve plate to be filled with oil, and simultaneously operating the deformation oil cylinders of the four deformation wheels;
when a signal that the deformation oil cylinder extends to complete the deformation action is received, a first oil passage of a gear shifting valve is instructed to enable a left front alternate gear oil cylinder to extend to perform power gear shifting of a driving motor;
when a signal after the gear shifting action is finished is received, a left driving valve is instructed to feed oil to rotate, at the moment, the left front wheel is in a deformed triangular crawler belt mode, and the left rear wheel is subjected to triangular deformation;
acquiring a signal of a deformation angle of the left rear wheel, and instructing a switching oil cylinder of the left rear wheel to act to perform gear shifting action after instructing a left driving valve to stop rotating until the gear shifting action is finished;
when the triangular crawler belt mode is switched to the round tire mode, the command leg valve controls the four leg oil cylinders to extend out, so that the four wheels are prepared for deformation from the ground;
the deformation valve plate is instructed to simultaneously control the deformation oil cylinders of the four wheels to act, and the deformation process is completed;
when the signals after the deformation is finished are received, the first gear shifting valve, the second gear shifting valve, the third gear shifting valve and the fourth gear shifting valve are instructed to perform gear shifting actions simultaneously until the gear shifting is finished, and therefore the four-wheel deformation of the whole chassis is achieved.
2. A four-wheel drive deformation wheel control system is characterized by comprising a controller, a support leg valve, a left driving valve, a right driving valve, a deformation valve plate, a first gear shifting valve, a second gear shifting valve, a third gear shifting valve, a fourth gear shifting valve and a proximity switch;
the controller instructs the left driving valve to close and two wheels on the left side to stall;
the controller controls the deformation valve plate to be communicated with oil, the deformation oil cylinders of the four deformation wheels simultaneously act, and after the deformation oil cylinders extend out to finish the deformation action, signals are sent to the controller through the corresponding linear switches to indicate that the deformation is finished;
the controller instructs the gear shifting valve to feed oil to enable the left front gear shifting oil cylinder to extend out to drive the motor to shift gears, after the corresponding linear switch is powered on to send out a signal to indicate that the gear shifting action is finished, the controller instructs the left driving valve to feed oil to rotate, at the moment, the left front wheel is in a deformed triangular crawler belt mode, and the left rear wheel is subjected to triangular deformation;
when the left rear wheel reaches a deformable angle, the approach switch of the left rear wheel sends an instruction to the controller, the controller instructs the left driving valve to stop rotating and instructs the switching oil cylinder of the left rear wheel to act to perform gear shifting, and after the action is completed, the corresponding linear switch is electrified to send an instruction to the controller to indicate that the gear shifting is completed;
when the triangular crawler mode is switched to the circular tire mode, the controller instructs the leg valves to control the four leg oil cylinders to extend, so that the four wheels are prepared for deformation in the ground;
the controller instructs the deformation valve plate to simultaneously control the deformation oil cylinders of the four wheels to act to complete the deformation process, after the corresponding linear switches are electrified to indicate that the deformation is completed, the controller instructs the gear shifting valve I, the gear shifting valve II, the gear shifting valve III and the gear shifting valve IV to simultaneously perform gear shifting action, after the corresponding four linear switches are electrified to indicate that the gear shifting is completed, and the four-wheel deformation process of the whole chassis is completed.
3. A four-wheel drive deformer wheel control system according to claim 2, further comprising a left flow diverter valve;
the left driving valve and the left flow dividing valve are connected in series to drive two deformation wheels on the left side of the chassis to walk.
4. A four-wheel drive deformer wheel control system according to claim 3, further comprising a right diverter valve;
the right driving valve and the right shunt valve are connected in series to drive two deformation wheels on the right side of the chassis to walk.
5. The four-wheel-drive deformation wheel control system according to claim 4, wherein the support leg valve, the left driving valve, the left flow dividing valve, the right driving valve, the right flow dividing valve, the deformation valve sheet, the first gear shifting valve, the second gear shifting valve, the third gear shifting valve and the fourth gear shifting valve adopt electromagnetic proportional valves.
6. A four-wheel-drive deforming wheel control system according to claim 2, characterized in that, the four-wheel-drive deforming wheel control system further comprises an encoder;
the encoder is used for detecting the rotating speed of the deforming wheel driving motor and transmitting the detected data to the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201028.6A CN114590334B (en) | 2022-03-02 | 2022-03-02 | Four-wheel drive deformation wheel control method and system |
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| CN202210201028.6A CN114590334B (en) | 2022-03-02 | 2022-03-02 | Four-wheel drive deformation wheel control method and system |
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| CN114590334A CN114590334A (en) | 2022-06-07 |
| CN114590334B true CN114590334B (en) | 2022-12-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT1514775E (en) * | 2002-06-14 | 2010-11-04 | Kubota Kk | Semi tracked-type working vehicle |
| CN101554890B (en) * | 2008-04-08 | 2012-01-11 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| CN102310403B (en) * | 2010-07-07 | 2013-10-16 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| IT201700087630A1 (en) * | 2017-07-31 | 2019-01-31 | Zona Eng & Design S A S Di Zona Mauro & C | CONVERTIBLE CINGOLO-WHEEL GROUP FOR VEHICLES, IN PARTICULAR FOR HIGH-MOBILITY ATV VEHICLES |
| CN110510017B (en) * | 2019-09-17 | 2020-07-24 | 北京理工大学 | Wheel capable of changing wheel and track |
| CN112793679B (en) * | 2021-02-25 | 2022-04-26 | 常熟理工学院 | Full-deformation wheel device capable of being switched into track structure |
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