CN116252888B - Automatic obstacle surmounting device for agricultural implement - Google Patents
Automatic obstacle surmounting device for agricultural implement Download PDFInfo
- Publication number
- CN116252888B CN116252888B CN202310478725.0A CN202310478725A CN116252888B CN 116252888 B CN116252888 B CN 116252888B CN 202310478725 A CN202310478725 A CN 202310478725A CN 116252888 B CN116252888 B CN 116252888B
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- carrier
- steering wheels
- block
- steering
- tractor
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- 239000000969 carrier Substances 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B11/00—Units comprising multiple wheels arranged side by side; Wheels having more than one rim or capable of carrying more than one tyre
- B60B11/02—Units of separate wheels mounted for independent or coupled rotation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention relates to the field of agricultural machinery, in particular to an automatic obstacle crossing device for agricultural machinery, which comprises a carrier, wherein a steering assembly at the front part of a tractor is connected with two groups of carriers, lifting assemblies are arranged on the surface of the carrier, two sliding parts are symmetrically fixed on two sides of the tractor, each sliding part is an arc-shaped slideway taking the rotating part of the carrier as the center, a sliding column is fixedly arranged at the top of the carrier, and the sliding column slides in the sliding parts; the invention changes the integral wheels of the traditional agricultural implement, two sides adopt two steering wheels to support the agricultural implement, the front and back dislocation unfolding of the steering wheels is controlled by the lifting component, the connecting rods and the swing arms, the supporting width of the front wheels of the agricultural implement is increased, the steering wheels with smaller size can smoothly span the ditch in the field, the obstacle of the agricultural implement advancing in the field is reduced, and the efficiency of large-area cultivation is improved.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an automatic obstacle surmounting device for agricultural machinery.
Background
The tractor is a common driving type agricultural implement, modern agricultural planting has rich cultivation modes, different agricultural implements are connected to the rear part or the front part of the tractor, corresponding agricultural implements are used for cultivation, the size of the rear wheel of the tractor is larger than that of the front wheel, the rear wheel of the tractor is a driving wheel, and the front wheel is a steering wheel.
The large-area cultivation planting is a common planting mode at present, continuous large-area cultivation is carried out by carrying farm tools by a tractor, a ditch in the planting work is a common obstacle of the tractor, the ditch is arranged in the field and used for planting irrigation and flood drainage, a channel crossing the ditch is arranged at a specific position for facilitating the farm machinery to enter the field, but in the continuous planting work, if the tractor runs according to the set channel, a longer turning distance is easy to appear, the cultivation efficiency is greatly reduced, the width of a common ditch is 40-50cm, if the tractor directly crosses the ditch, a large-size driving wheel can generally cross the ditch, but a steering wheel with a small front size is easy to clamp into the ditch, the cultivation efficiency is not only affected, but also equipment is easy to damage.
Disclosure of Invention
The invention aims to solve the following problems in the prior art: in the continuous planting work, if the tractor runs according to a set channel, a longer turning distance is easy to appear, the cultivation efficiency is greatly reduced, the width of a common canal is 40-50cm, if the tractor directly spans the canal, a large-size driving wheel can generally span the canal, but a front small-size steering wheel is easy to clamp into the canal, so that the cultivation efficiency is influenced, and equipment is easy to destroy.
The invention provides an automatic obstacle crossing device for agricultural machinery, which aims to solve the problems in the prior art and comprises a carrier, wherein a steering assembly at the front part of a tractor is connected with two groups of carriers, lifting assemblies are arranged on the surface of the carrier, two sliding parts are symmetrically fixed on two sides of the tractor, each sliding part is an arc-shaped slideway taking the rotating part of the carrier as the center, a sliding column is fixedly arranged at the top of the carrier, and the sliding column slides in the sliding parts;
the lifting assembly lifts the middle parts of the connecting rods, and drives the connecting rods to move up and down, so that the top ends of the connecting rods pull and push the two swing arms to rotate and fold or expand, and the two swing arms swing to drive the two steering wheels to expand or fold to a concentric position.
Preferably, the lifting assembly comprises a hydraulic cylinder, a carrier block is connected to the telescopic end of the hydraulic cylinder, the hydraulic cylinder stretches to enable the carrier block to slide on the surface of the carrier in a straight line, and the two swing arms are connected with the carrier block in a rotating mode.
Preferably, the surface of the carrier is provided with a chute which is matched with the carrier block to slide linearly, a positioning block which points to the side wall of the chute is penetrated and slid in the carrier block, the side wall of the chute is provided with a positioning hole which is matched with the positioning block, the inner end of the positioning block is an inclined surface which inclines upwards, an inclined block is arranged above the positioning block, and the telescopic end of the hydraulic cylinder slides into the carrier block to be fixedly connected with the inclined block.
Preferably, the bottom of the positioning block is provided with an inclined plane groove, a gathering frame for aligning the inclined plane groove is arranged below the positioning block, and the gathering frame is fixedly connected with the inclined block.
Preferably, the fixed gears are concentrically fixed near the steering wheels, a movable gear is arranged between the steering wheels, the movable gears are synchronously engaged with the two fixed gears, a transmission rod is arranged in one swing arm in a sliding mode, the movable gear is rotationally connected with the transmission rod, the top of the transmission rod is aligned with a cam, and the cam is fixedly connected with the rotating part of the connecting rod.
Preferably, a shifting plate is arranged between the two steering wheels, the shifting plate is positioned at the outer ring part of the steering wheels, and the shifting plate is fixedly connected with the swing arm.
Compared with the related art, the automatic obstacle surmounting device for the farm machinery has the following beneficial effects:
the invention changes the integral wheels of the traditional agricultural implement, adopts two steering wheels to support the agricultural implement at both sides, controls the front and back misplacement and expansion of the steering wheels through the lifting component, the connecting rod and the swing arm in a linkage way, increases the supporting width of the wheels at the front part of the agricultural implement, facilitates the steering wheels with smaller size to smoothly span the water channel in the field, reduces the obstacle of the agricultural implement in the field, and improves the efficiency of large-area cultivation.
Drawings
FIG. 1 is a schematic view of a steering wheel gathering structure of the present invention;
FIG. 2 is a schematic view of the steering wheel of the present invention in an expanded configuration;
FIG. 3 is a schematic view of the steering wheel mounting structure of the present invention;
FIG. 4 is a schematic diagram of the alignment structure of the movable gear and the fixed gear of the present invention;
FIG. 5 is a schematic diagram of a movable gear drive structure according to the present invention;
FIG. 6 is a schematic view of a lifting assembly according to the present invention;
FIG. 7 is a schematic diagram of a carrier block lock configuration of the present invention;
fig. 8 is a schematic view of a carrier block unlocking structure according to the present invention.
Reference numerals in the drawings: 1. a steering wheel; 11. a fixed gear; 12. a movable gear; 13. a transmission rod; 14. a cam; 2. a carrier; 21. a spool; 22. a slider; 3. swing arms; 31. a poking plate; 4. a connecting rod; 5. a hydraulic cylinder; 6. a carrier block; 61. a positioning block; 62. positioning holes; 63. a sloping block; 64. an inclined surface groove; 65. and (5) gathering the frame.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1-2, an automatic obstacle surmounting device for agricultural machinery uses a tractor or other four-wheel agricultural driving equipment as a main body, the rear part of the tractor is provided with two large-size driving wheels, two small-size steering wheels 1 are arranged on two sides of the front part of the tractor, a steering assembly is arranged on the front part of the tractor, the steering assembly adopts the existing mechanical steering assembly or hydraulic steering assembly of the tractor, the steering assembly of the tractor is connected with two carriers 2, the carriers 2 are L-shaped, the vertical parts of the carriers 2 extend to the two sides of the tractor, two sliding parts 22 are symmetrically fixed on the upper parts of the two sides of the tractor, the sliding parts 22 are arc-shaped sliding ways taking the rotating parts of the carriers 2 as the center, a sliding column 21 is fixedly arranged on the top of the carriers 2, the sliding column 21 slides in the sliding parts 22, the steering assembly of the tractor drives the carriers 2 to rotate, and the sliding column 21 slides in the sliding parts 22 to increase the steering stability of the carriers 2;
as shown in fig. 3, the top ends of the two swing arms 3 rotate concentrically on the upper part of the carrier 2, so that the two swing arms 3 can rotate in a crossed manner, the two steering wheels 1 rotate on the bottoms of the swing arms 3, and the swing arms 3 rotate and simultaneously drive the steering wheels 1 to coincide concentrically or spread forwards and backwards;
as shown in fig. 6, the lifting assembly comprises a hydraulic cylinder 5, the hydraulic cylinder 5 is fixed on the surface of the carrier 2, a chute is formed on the surface of the carrier 2, the carrier 6 vertically slides in the chute, the telescopic end of the hydraulic cylinder 5 is connected with the carrier 6, two connecting rods 4 concentrically rotate on the surface of the carrier 6, and the other ends of the two connecting rods 4 rotate to be connected with the middle part of the swing arm 3;
when the tractor is used for normal running cultivation, the hydraulic cylinder 5 is in an extension state, the carrier block 6 is positioned at the bottommost part of the sliding block, the connecting rod 4 pulls the swing arms 3 downwards, the two swing arms 3 are folded, the two steering wheels 1 are kept in a concentric state, and the carrier 2 is driven by the steering mechanism to drive the steering wheels 1 to normally steer;
when the tractor spans the canal, the tractor is required to be adjusted to be opposite to the canal, the carrier 2 and the steering wheel 1 are kept in a righting state, the hydraulic cylinder 5 is started to shrink and drive the carrier block 6 to rise, the connecting rod 4 is pulled to enable the two swing arms 3 to expand and rotate, the two steering wheels 1 are staggered back and forth, the supporting span of the front part of the tractor is increased, the tractor advances, the front steering wheel 1 spans the canal firstly, the rear steering wheel 1 plays a supporting role, when the front steering wheel 1 spans the canal and plays a supporting role, the rear steering wheel 1 spans the canal again, the size of a driving wheel at the rear part of the tractor is large, and the canal with the width of 50cm can be normally passed;
when the tractor spans the canal, the large-amplitude steering operation cannot be performed, and the unfolded steering wheel 1 is prevented from touching the tractor body;
when the tractor completely passes through the canal, the extension hydraulic cylinder 5 is controlled, so that the connecting rod 4 drives the swing arm 3 to retract, and the two steering wheels 1 are reset to the concentric state.
Because the normal running state of the tractor is kept longer, that is to say, the concentric alignment time of the two steering wheels 1 is longer, the concentric locking of the two steering wheels 1 greatly reduces the load stress of the hydraulic cylinder 5, has a protective effect on the hydraulic cylinder 5, and specifically comprises the following steps:
as shown in fig. 7-8, the interior of the carrier block 6 is provided with a cavity, a positioning block 61 pointing to the side wall of the chute is penetrated and slid in the interior of the carrier block 6, the side wall of the chute is provided with a positioning hole 62 adapting to the positioning block 61, one end of the positioning block 61 positioned in the interior of the carrier block 6 is an inclined surface inclining upwards, an inclined block 63 is arranged above the positioning block 61, the inclined block 63 is adapted to the inclined surface at the end part of the carrier block 6, and the telescopic end of the hydraulic cylinder 5 is slid into the interior of the carrier block 6 and fixedly connected with the inclined block 63;
when the hydraulic cylinder 5 stretches to drive the two steering wheels 1 to be folded to be concentric, the carrier block 6 slides to the bottommost part of the sliding groove, and the hydraulic cylinder 5 drives the inclined block 63 to downwards squeeze the positioning block 61, so that the positioning block 61 is clamped into the positioning hole 62, and the carrier block 6 is locked;
the bottom of the positioning block 61 is provided with an inclined plane groove 64, a gathering frame 65 is arranged below the positioning block 61, the gathering frame 65 is U-shaped, the upturned end of the gathering frame 65 corresponds to the inclined plane groove 64, and the gathering frame 65 is fixedly connected with the inclined block 63;
when the hydraulic cylinder 5 contracts to drive the two steering wheels 1 to open, the gathering frame 65 moves upwards to squeeze the inclined surface groove 64, so that the positioning block 61 is gathered and separated from the clamping connection with the positioning hole 62, and the locking of the carrier block 6 is released and can slide linearly.
Because the two steering wheels 1 rotate independently, when the two steering wheels 1 support the tractor concentrically, when the two steering wheels 1 run on a complex road surface, the dislocation easily occurs, so that foreign matters are easily blocked between the two steering wheels 1, the normal running of the steering wheels 1 is endangered, and the specific operation for overcoming the problem is as follows:
as shown in fig. 4-5, fixed gears 11 are concentrically and fixedly arranged near the two steering wheels 1, the fixed gears 11 rotate along with the steering wheels 1, a movable gear 12 is arranged between the steering wheels 1, a transmission rod 13 is slidably arranged in one swing arm 3, the movable gear 12 is rotationally connected with the bottom of the transmission rod 13, a cam 14 is arranged at the top of the transmission rod 13 in an alignment manner, and the cam 14 is fixedly connected with the rotating part of the connecting rod 4;
when the two steering wheels 1 are unfolded, the cam 14 rotates along with the connecting rod 4, the cam 14 is not contacted with the top of the transmission rod 13, the transmission rod 13 and the movable gear 12 are in a free state, and the transmission rod 13 cannot bind the fixed gear 11;
when the two steering wheels 1 are gradually folded, the cam 14 rotates along with the connecting rod 4, the cam 14 gradually approaches and presses the transmission rod 13, so that the transmission rod 13 drives the movable gear 12 to gradually move downwards, when the two steering wheels 1 are folded to the concentric position, the two fixed gears 11 are axially aligned, the cam 14 presses the transmission rod 13 to the pole, and the movable gear 12 is meshed with the two fixed gears 11, so that the two fixed gears 11 and the steering wheels 1 keep synchronous running, and the situation that foreign matters are blocked between the steering wheels 1 due to frustration is reduced;
when the two steering wheels 1 are unfolded again, the cam 14 rotates without contacting the transmission rod 13, at the moment, the transmission rod 13 and the movable gear 12 lose extrusion force, the movable gear 12 and the fixed gear 11 on the other side generate movement interference during separation, the movable gear 12 and the transmission rod 13 can jump upwards to avoid blocking, and the fixed gear 11 on the same side with the movable gear 12 can freely contact the movable gear 12 for movement due to the rotation setting of the movable gear 12.
Setting up between two directive wheel 1 and dialling the board 31, dialling board 31 fixed connection swing arm 3, dialling board 31 is located directive wheel 1 outer lane position, dials board 31 and is the triangle-shaped moreover, and when the card goes into the foreign matter between directive wheel 1, the foreign matter follows the rotation of directive wheel 1, and the foreign matter is pried outwards after the contact dialling board 31, realizes the foreign matter clearance between the directive wheel 1.
The crossing method of the automatic obstacle surmounting device of the agricultural implement comprises the following specific steps:
A. in a normal running state of the tractor, the steering wheels 1 on two sides of the tractor are concentrically aligned, and the steering assembly of the tractor can drive the carrier 2 to drive the steering wheels 1 to synchronously steer;
B. when the tractor spans the canal, the steering assembly of the tractor drives the steering wheels 1 to be in a straightening state, the lifting assembly contracts to upwards lift the connecting rod 4, so that the swing arm 3 drives the steering wheels 1 to swing, the two steering wheels 1 are staggered back and forth, and the front bearing width of the tractor is increased;
C. when the tractor moves forwards and the front steering wheel 1 spans the canal, the rear steering wheel 1 supports the equipment, and when the front steering wheel 1 plays a supporting role after spanning the canal, the rear steering wheel 1 spans the canal until the tractor passes through the canal and then folds the steering wheel 1 to a concentric position.
Claims (3)
1. An automated obstacle crossing device for an agricultural implement, comprising:
the steering assembly at the front part of the carrier (2) is connected with two groups of carriers (2), lifting assemblies are arranged on the surface of the carrier (2), two sliding parts (22) are symmetrically fixed on two sides of the tractor, the sliding parts (22) are arc-shaped sliding ways taking the rotating part of the carrier (2) as the center, a sliding column (21) is fixedly arranged at the top of the carrier (2), and the sliding column (21) slides in the sliding parts (22);
the lifting device comprises steering wheels (1), wherein two steering wheels (1) are arranged on the side edges of each carrier (2), two swing arms (3) are arranged on the surfaces of the carriers (2) in a crossed manner, the bottom ends of the swing arms (3) are rotationally connected with the steering wheels (1), two connecting rods (4) are arranged at the moving ends of the lifting assembly in a crossed manner, the top ends of the two connecting rods (4) are respectively rotationally connected with the middle parts of the swing arms (3), the lifting assembly lifts the connecting rods (4) to move up and down, the top ends of the connecting rods (4) pull and push the two swing arms (3) to rotationally fold or expand, and the two swing arms (3) swing to drive the two steering wheels (1) to front and back unfold or fold to a concentric position;
the lifting assembly comprises a hydraulic cylinder (5), a carrier block (6) is connected to the telescopic end of the hydraulic cylinder (5), the hydraulic cylinder (5) stretches to enable the carrier block (6) to slide on the surface of the carrier frame (2) in a straight line, and the two connecting rods (4) are rotationally connected with the carrier block (6);
the surface of the carrier (2) is provided with a chute which is matched with the carrier block (6) to slide linearly, a positioning block (61) which points to the side wall of the chute is penetrated and slid inside the carrier block (6), the side wall of the chute is provided with a positioning hole (62) which is matched with the positioning block (61), the inner end of the positioning block (61) is an inclined surface which inclines upwards, an inclined block (63) is arranged above the positioning block (61), and the telescopic end of the hydraulic cylinder (5) is penetrated into the carrier block (6) in a sliding way to be fixedly connected with the inclined block (63);
the bottom of the positioning block (61) is provided with an inclined plane groove (64), a gathering frame (65) for aligning the inclined plane groove (64) is arranged below the positioning block (61), and the gathering frame (65) is fixedly connected with the inclined block (63).
2. The automatic obstacle surmounting device for agricultural machinery according to claim 1, wherein fixed gears (11) are concentrically fixed near sides of two steering wheels (1), a movable gear (12) is arranged between the steering wheels (1), the movable gear (12) can be synchronously engaged with the two fixed gears (11), a transmission rod (13) is slid inside one swing arm (3), the movable gear (12) is rotationally connected with the transmission rod (13), a cam (14) is arranged on the top of the transmission rod (13), and the cam (14) is fixedly connected with a rotating part of the connecting rod (4).
3. The automatic obstacle surmounting device for agricultural machinery according to claim 1, wherein a poking plate (31) is arranged between the two steering wheels (1), the poking plate (31) is positioned at the outer ring part of the steering wheels (1), and the poking plate (31) is fixedly connected with the swing arm (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310478725.0A CN116252888B (en) | 2023-04-28 | 2023-04-28 | Automatic obstacle surmounting device for agricultural implement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310478725.0A CN116252888B (en) | 2023-04-28 | 2023-04-28 | Automatic obstacle surmounting device for agricultural implement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116252888A CN116252888A (en) | 2023-06-13 |
| CN116252888B true CN116252888B (en) | 2024-02-20 |
Family
ID=86682752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310478725.0A Active CN116252888B (en) | 2023-04-28 | 2023-04-28 | Automatic obstacle surmounting device for agricultural implement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116252888B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2434556A1 (en) * | 1974-07-18 | 1976-03-04 | Krone Bernhard Gmbh Maschf | Articulated earth mover - with removable tracks on pneumatic tyres and with forward control cab |
| EP1468899A2 (en) * | 2003-04-14 | 2004-10-20 | DTU Deutsche Traktoren Union GmbH | Agricultural towing vehicle with articulated frame steering |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN108163094A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of mountain off-road robot car chassis |
| CN108327498A (en) * | 2018-04-10 | 2018-07-27 | 中国人民解放军陆军军事交通学院 | A kind of high motor platform based on controllable balance swing arm suspension |
| CN113335406A (en) * | 2021-06-01 | 2021-09-03 | 哈尔滨学院 | Deformation type obstacle crossing robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160096547A1 (en) * | 2014-04-09 | 2016-04-07 | Matthew W. Dames | Agricultural vehicle with tread width adjustment |
| EP3733488B1 (en) * | 2017-12-25 | 2024-12-18 | Kubota Corporation | Work vehicle |
-
2023
- 2023-04-28 CN CN202310478725.0A patent/CN116252888B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2434556A1 (en) * | 1974-07-18 | 1976-03-04 | Krone Bernhard Gmbh Maschf | Articulated earth mover - with removable tracks on pneumatic tyres and with forward control cab |
| EP1468899A2 (en) * | 2003-04-14 | 2004-10-20 | DTU Deutsche Traktoren Union GmbH | Agricultural towing vehicle with articulated frame steering |
| CN108163094A (en) * | 2017-11-29 | 2018-06-15 | 昆明理工大学 | A kind of mountain off-road robot car chassis |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN108327498A (en) * | 2018-04-10 | 2018-07-27 | 中国人民解放军陆军军事交通学院 | A kind of high motor platform based on controllable balance swing arm suspension |
| CN113335406A (en) * | 2021-06-01 | 2021-09-03 | 哈尔滨学院 | Deformation type obstacle crossing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116252888A (en) | 2023-06-13 |
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