CN109774676B - Passenger car pivot steering device and control method thereof - Google Patents
Passenger car pivot steering device and control method thereof Download PDFInfo
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- CN109774676B CN109774676B CN201811580241.2A CN201811580241A CN109774676B CN 109774676 B CN109774676 B CN 109774676B CN 201811580241 A CN201811580241 A CN 201811580241A CN 109774676 B CN109774676 B CN 109774676B
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Abstract
The invention discloses a pivot steering device of a passenger car, which comprises a first hydraulic cylinder support column and a second hydraulic cylinder support column, the third hydraulic cylinder support column and the microprocessor MCU are arranged in a triangular mode, the first hydraulic cylinder support column, the second hydraulic cylinder support column and the third hydraulic cylinder support column are of hydraulic telescopic cylinder structures, the first hydraulic cylinder support column is connected to a chassis through a rotating motor and a linear motor, the second hydraulic cylinder support column and the third hydraulic cylinder support column are rigidly connected with the chassis, an output shaft of the rotating motor is rigidly connected with a stator of the linear motor and a guide rail, a rotor of the linear motor and a sliding block matched with the guide rail are rigidly connected with the first hydraulic cylinder support column, the linear motor drives the first hydraulic cylinder support column to move along the guide rail, gravity sensors are arranged at the tail ends of the three hydraulic cylinder support columns, and the microprocessor MCU calculates the gravity center position of a vehicle according to pressure signals sent by the gravity sensors and controls the rotating motor and the linear motor to work. The invention can realize the pivot steering of the vehicle.
Description
Technical Field
The invention relates to a vehicle steering device and a control method thereof, in particular to a passenger vehicle pivot steering device and a control method thereof.
Background
At present, a passenger car basically turns to and runs along the instantaneous center of the speed far away from the car body according to the Ackerman steering principle, the steering radius is large, and a large steering space is needed. The prior art also lacks a technical scheme for realizing the pivot steering of the vehicle, for example, chinese patent with publication number CN107776663A discloses a "vehicle pivot steering system and a vehicle pivot steering control method", the system includes: the parking device comprises a steering adjusting device, an electronic parking device, a first motor, a second motor and a control device, wherein the steering adjusting device is used for controlling a left front wheel of a vehicle to rotate rightwards by a first preset angle and controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle; the electronic parking device is used for locking the rear wheel on the pivot steering direction side of the vehicle; the first motor is used for driving the left front wheel, and the second motor is used for driving the right front wheel; when an in-situ steering starting instruction is detected, the control device respectively controls the steering adjusting device, the electronic parking device, the first motor and the second motor to start, and respectively controls the running directions of the first motor and the second motor according to the in-situ steering direction. The system adopts a mode that the rear wheel is taken as a steering center and the front wheel drives the vehicle to steer, and because the rear wheel is locked by the parking device, the tire is steered in situ in the steering process, the abrasion of the tire is serious, and meanwhile, a larger steering space is still needed.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a pivot steering apparatus for a passenger car, which can achieve pivot steering of the car and reduce a steering radius. Another object of the present invention is to provide a control method of the pivot steering device of the passenger car.
The technical scheme of the invention is as follows: a passenger car in-situ steering device comprises a first hydraulic cylinder support, a second hydraulic cylinder support, a third hydraulic cylinder support and a microprocessor MCU (microprogrammed control Unit), wherein the first hydraulic cylinder support, the second hydraulic cylinder support and the third hydraulic cylinder support are hydraulic telescopic cylinders, each hydraulic telescopic cylinder comprises an outer end hydraulic cylinder and a hydraulic piston, each hydraulic piston is a telescopic end, a foot plate is arranged below each hydraulic piston, a gravity sensor is arranged between the tail end of each hydraulic piston and the foot plate, the first hydraulic cylinder support is connected with a car chassis through a steering displacement device, each steering displacement device comprises a rotating motor, a linear motor and a guide rail, the output shaft of each rotating motor is rigidly connected with the stator of the linear motor and the guide rail, the rotor of the linear motor is rigidly connected with the first hydraulic cylinder support, and the guide rail is matched with a sliding block, the slide block is rigidly connected with the first hydraulic cylinder strut, the linear motor drives the first hydraulic cylinder strut to displace along the guide rail, the outer end hydraulic cylinder of the second hydraulic cylinder support and the outer end hydraulic cylinder of the third hydraulic cylinder support are rigidly connected with the chassis, the first hydraulic cylinder strut, the second hydraulic cylinder strut and the third hydraulic cylinder strut are arranged on the chassis in a triangular shape, the microprocessor MCU is respectively connected with the gravity sensor, the rotating motor and the linear motor of the first hydraulic cylinder strut, the second hydraulic cylinder strut and the third hydraulic cylinder strut, the gravity sensors of the first, second and third hydraulic cylinder struts send pressure signals to the microprocessor MCU, and the microprocessor MCU calculates the gravity center position of the vehicle according to the pressure signal and controls the rotary motor and the linear motor to work.
The hydraulic cylinder support column is connected with the front hydraulic valve through the hydraulic pump, the front hydraulic valve supplies oil to the first hydraulic cylinder support column through a pipeline, the rear hydraulic valve supplies oil to the second hydraulic cylinder support column and the third hydraulic cylinder support column through a pipeline, and the microprocessor MCU controls the hydraulic pump, the front hydraulic valve and the rear hydraulic valve to work respectively.
Furthermore, a hydraulic telescopic cylinder still includes an inner hydraulic cylinder, a return extension spring and a return extension spring disc, an outer end hydraulic cylinder, an inner hydraulic cylinder and a hydraulic piston are sequentially sleeved to form a hydraulic telescopic structure, the return extension spring disc is rigidly connected to the hydraulic piston, and the return extension spring is connected between the outer end hydraulic cylinder and the return extension spring disc.
Furthermore, the top of the outer end hydraulic cylinder of the hydraulic telescopic cylinder is rigidly connected with a sealing disc, and the sealing disc of the first hydraulic cylinder support is rigidly connected with the slider and the rotor of the linear motor respectively.
Furthermore, the gravity sensor is connected below the hydraulic piston, the gravity sensor is connected with a thrust bearing, and the thrust bearing is rigidly connected with the foot disc.
A control mode of a passenger car pivot steering device is based on the running of the passenger car pivot steering device, firstly, a first hydraulic cylinder support column, a second hydraulic cylinder support column and a third hydraulic cylinder support column are enabled to be in an extending state, a vehicle is supported, wheels of the vehicle are suspended, the position of the gravity center of the vehicle is calculated by a microprocessor MCU according to pressure signals measured by a gravity sensor of the first hydraulic cylinder support column, a gravity sensor of the second hydraulic cylinder support column and a gravity sensor of the third hydraulic cylinder support column, then the first hydraulic cylinder support column, the second hydraulic cylinder support column and the third hydraulic cylinder support column are in a withdrawing state, and controlling the rotating motor to rotate for an angle according to the gravity center position of the vehicle, controlling the linear motor to work to enable the first hydraulic cylinder strut to move to the gravity center position of the vehicle, and finally enabling the first hydraulic cylinder strut to be in an extending state and supporting the vehicle to enable wheels to be suspended.
Further, when the gravity center position of the vehicle is calculated, a plane rectangular coordinate system is established by taking the center position of the first hydraulic cylinder strut as an origin, and the initial direction of the guide rail is an X axis, so that the gravity center position coordinate of the vehicle is calculated.
The technical scheme provided by the invention has the advantages that the gravity center of the vehicle is calculated through the gravity sensors of the first hydraulic cylinder support, the second hydraulic cylinder support and the third hydraulic cylinder support, then the first hydraulic cylinder support is moved to the gravity center position, the vehicle is rotated in a wheel suspension mode to realize in-situ steering, the steering radius of the vehicle is small, the occupied space is small, and the hydraulic steering system is suitable for operation in narrow areas. In addition, through the measurement of the three hydraulic cylinder struts, the accurate gravity center of the vehicle can be obtained, so that the first hydraulic cylinder strut can obtain stable stress when the vehicle is supported independently, the supporting reliability is ensured, and the vehicle can be flexibly steered in situ.
Drawings
Fig. 1 is a schematic view of a structure of a passenger car pivot steering device located on a chassis and an oil pipeline structure.
Fig. 2 is a schematic cross-sectional view along the direction AA of fig. 1.
Fig. 3 is a schematic cross-sectional view in the direction BB of fig. 1.
Fig. 4 is a schematic diagram showing the positional relationship of the first hydraulic cylinder strut, the second hydraulic cylinder strut, and the third hydraulic cylinder strut.
Fig. 5 is a schematic view of the first hydraulic cylinder strut turning and moving.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.
The passenger car pivot steering device related to the embodiment of the invention comprises a microprocessor MCU 1; a passenger car chassis 2; a first hydraulic cylinder strut 3; a liquid storage tank 4; a hydraulic pump 5; a second hydraulic cylinder support 6; a third hydraulic cylinder strut 7; a front hydraulic valve 8 a; a rear hydraulic valve 8 b; a rotating electric machine 9; annular flanges 10a,10b,10 c; a guide rail 11; a linear motor stator 12; a linear motor mover 13; outer end hydraulic cylinders 14a,14b,14 c; return tension springs 15a,15b,15 c; inner end hydraulic cylinders 16a,16b,16 c; hydraulic pistons 17a,17b,17 c; return tension spring discs 18a,18b,18 c; gravity sensors 19a,19b,19 c; thrust bearings 20a,20b,20 c; foot plates 21a,21b,21 c; sealing discs 22a,22b,22 c; a slider 23; a first hydraulic barrel strut oil conduit 24 a; a second hydraulic cylinder strut oil pipe 24 b; third hydraulic barrel strut oil pipe 24c
The overall assembly structure is shown in fig. 1, a first hydraulic cylinder support 3, a second hydraulic cylinder support 6 and a third hydraulic cylinder support 7 are arranged on the lower plane of a chassis 2 of a passenger car and distributed in an equilateral triangle, so that the center of gravity of the whole car can be positioned in a triangular area formed by the center of the first hydraulic cylinder support 3, the center of the second hydraulic cylinder support 6 and the center of the third hydraulic cylinder support 7 under the no-load and full-load states of the passenger car.
As shown in fig. 2, the structure of the first hydraulic cylinder strut 3 is such that: the outer end hydraulic cylinder 14a and the circular flange 10a are rigidly welded, the upper end faces of the outer end hydraulic cylinder 14a and the circular flange 10a are tightly attached to the lower plane of the passenger car chassis 2, the upper end face of the guide rail 11 is tightly attached to the lower plane of the passenger car chassis 2, the rotating motor 9 is arranged in a pit of the lower plane of the passenger car chassis 2, an output shaft of the rotating motor 9 is rigidly connected with the linear motor stator 12 and the guide rail 11, the linear motor rotor 13 is rigidly connected with the sealing disc 22a, the sealing disc 22a is rigidly connected with the slider 23, and the sealing disc 22a is rigidly connected with the outer end hydraulic cylinder 14 a. The return tension spring 15a is connected with the outer end hydraulic cylinder 14a and a return tension spring disc 18a, and the return tension spring disc 18a is rigidly connected with the rod part of the hydraulic piston 17 a. The hydraulic piston 17a, the inner end hydraulic cylinder 16a and the outer end hydraulic cylinder 14a are sequentially sleeved to form a multi-section telescopic structure. The end of the rod part of the hydraulic piston 17a is provided with a gravity sensor 19a, the gravity sensor 19a is connected with a thrust bearing 20a, and the thrust bearing 20a is rigidly connected with a foot disc 21 a.
As shown in fig. 3, the second hydraulic cylinder support 6 has the following structure: the hydraulic piston 17b, the inner end hydraulic cylinder 16b and the outer end hydraulic cylinder 14b are sequentially sleeved to form a multi-section telescopic structure. The outer end hydraulic cylinder 14b and the circular flange 10b are rigidly welded, the upper end faces of the outer end hydraulic cylinder 14b and the circular flange 10b are rigidly connected to the lower plane of the passenger car chassis 2, and the sealing disc 22b is rigidly connected with the outer end hydraulic cylinder 14 b. The return tension spring 15b is connected with the outer end hydraulic cylinder 14b and the return tension spring disc 18b, and the return tension spring disc 18b is rigidly connected with the rod part of the hydraulic piston 17 b. The end of the rod part of the hydraulic piston 17b is provided with a gravity sensor 19b, the gravity sensor 19b is connected with a thrust bearing 20b, and the thrust bearing 20b is rigidly connected with a foot disc 21 b.
The third hydraulic cylinder support column 7 is structured like the second hydraulic cylinder support column 6 in such a manner that: the hydraulic piston 17c, the inner end hydraulic cylinder 16c and the outer end hydraulic cylinder 14c are sequentially sleeved to form a multi-section telescopic structure. The outer end hydraulic cylinder 14c and the circular flange 10c are rigidly welded, the upper end faces of the outer end hydraulic cylinder 14c and the circular flange 10c are rigidly connected to the lower plane of the passenger car chassis 2, and the sealing disc 22c is rigidly connected with the outer end hydraulic cylinder 14 c. The return tension spring 15c is connected with the outer end hydraulic cylinder 14c and the return tension spring disc 18c, and the return tension spring disc 18c is rigidly connected with the rod part of the hydraulic piston 17 c. The end of the rod part of the hydraulic piston 17c is provided with a gravity sensor 19c, the gravity sensor 19c is connected with a thrust bearing 20c, and the thrust bearing 20c is rigidly connected with a foot disc 21 c.
The microprocessor MCU 1 is connected to the gravity sensors 19a,19b,19c of the first, second and third hydraulic cylinder struts 3, 6, 7, respectively, and to the rotary and linear motors 9, 9. The movement of the rotary motor 9 and of the linear motor mover 13 is controlled by the microprocessor MCU 1 according to the pressure signals sent by the gravity sensors 19a,19b,19 c. The liquid storage tank 4 is respectively connected with a front hydraulic valve 8a and a rear hydraulic valve 8b through a hydraulic pump 5, the front hydraulic valve 8a supplies oil to an outer end hydraulic cylinder 14a of a first hydraulic cylinder support 3 through a first hydraulic cylinder support oil pipe 24a, the rear hydraulic valve 8b supplies oil to an outer end hydraulic cylinder 14b of a second hydraulic cylinder support 6 and an outer end hydraulic cylinder 14c of a third hydraulic cylinder support 7 through a second hydraulic cylinder support oil pipe 24b and a third hydraulic cylinder support oil pipe 24c, and the microprocessor MCU 1 respectively controls the hydraulic pump 5, the front hydraulic valve 8a and the rear hydraulic valve 8b to work.
The working process of the pivot steering device of the passenger car is as follows:
the starting button of the whole device is arranged in the cab, a driver clicks the starting button, and the microprocessor MCU 1 sends an opening command to the front hydraulic valve 8a and the rear hydraulic valve 8b and simultaneously sends an oil pumping pressurization command to the hydraulic pump 5. When the hydraulic pressure reaches a rated value P0, the hydraulic pistons 17a,17b,17c and the inner end hydraulic cylinders 16a,16b,16c of the first hydraulic cylinder support 3, the second hydraulic cylinder support 6 and the third hydraulic cylinder support 7 are fully extended, all tires of the passenger vehicle are in a suspended state, and the corresponding gravity sensors 19a,19b,19c in the first hydraulic cylinder support 3, the second hydraulic cylinder support 6 and the third hydraulic cylinder support 7 detect the respective borne positive pressure NA、NB、NCThen, the detected positive pressure data is fed back to the microprocessor MCU 1, and a plane rectangular coordinate system is established with the lower plane of the passenger vehicle chassis 2 as a plane, the central position a of the first hydraulic cylinder strut 3 as an origin, and the initial direction of the guide rail 11 as an X-axis, as shown in fig. 4.
The coordinate of the point A is (0,0), the central position of the second hydraulic cylinder strut 6 is a point B, the central position of the third hydraulic cylinder strut 7 is a point C, the side length of the equilateral triangle ABC is L, and the coordinate of the point B is
The coordinate of point C is
The microprocessor MCU 1 is according to the formula
Determining the position of the center of gravity of the passenger vehicle as point D (x)D，yD) As shown in fig. 5. Microprocessor MCU 1 formula
The radial dimension ρ and the argument θ from the center a point to the D point of the first hydraulic cylinder strut 3 can be calculated.
The microprocessor MCU 1 firstly sends an oil drainage and pressure reduction command to the hydraulic pump 5, the first hydraulic cylinder support 3, the second hydraulic cylinder support 6 and the third hydraulic cylinder support 7 respectively drain oil under the action of the pulling force of the return tension springs 15a,15b and 15c and withdraw the oil, then the front hydraulic valve 8a and the rear hydraulic valve 8b send closing commands, all tires of the passenger vehicle are in a load state again, the microprocessor MCU 1 sends a command of shifting the rho radial length to the linear motor mover 13, then the MCU 1 sends a command of rotating the theta amplitude angle counterclockwise to the rotary motor 9, the linear motor mover 13 drives the first hydraulic cylinder support 3 and the slide block 23 to move rightwards by a distance rho along the guide rail 11 and reach a point D', and the rotary motor 9 drives the linear motor stator 12, the linear motor mover 13, the slide block 23, the guide rail 11 and the first hydraulic cylinder support 3 to rotate the theta amplitude angle together (if theta is negative, clockwise by theta), which achieves the purpose of moving the center of the first hydraulic cylinder strut 3 to the position of the center of gravity D of the passenger car.
After the first hydraulic cylinder prop 3 reaches the position of center of gravity D, the microprocessor MCU 1 issues an open command to the forward hydraulic valve 8a and then issues a pump oil pressurization command to the hydraulic pump 5. When the hydraulic pressure reaches a rated value P0, the hydraulic piston 17a of the first hydraulic cylinder support 3 and the inner end hydraulic cylinder 16a are completely extended, the whole passenger car is jacked up, and all tires of the passenger car are in a suspended state.
After the passenger car is jacked up, the driver manually rotates the body of the passenger car, and the passenger car rotates along the thrust bearing 20a on the foot disc 21a of the first hydraulic cylinder strut 3, so that the aim of pivot steering is fulfilled.
After the pivot steering is finished, the driver clicks the button switch again, the microprocessor MCU 1 firstly sends an oil drainage and pressure reduction command to the hydraulic pump 5, the first hydraulic cylinder support 3 drains oil and retracts under the action of the tension of the return spring 15a, then the microprocessor MCU 1 sends a closing command to the front hydraulic valve 8a, the microprocessor MCU 1 sends a clockwise rotation theta amplitude angle command to the rotating motor 9, and then sending a command of leftward shifting rho radial length to the linear motor rotor 13, driving the linear motor stator 12, the linear motor rotor 13, the sliding block 23, the guide rail 11 and the first hydraulic cylinder support 3 to rotate clockwise by theta amplitude angle by the rotating motor 9, driving the first hydraulic cylinder support 3 and the sliding block 23 to leftward move along the guide rail 11 by rho distance by the linear motor rotor 13, returning the first hydraulic cylinder support 3 to the initial position, completing the resetting work of each component, and completing the whole in-situ steering process.
Claims (7)
1. A passenger car in-situ steering device is characterized by comprising a first hydraulic cylinder support, a second hydraulic cylinder support, a third hydraulic cylinder support and a microprocessor MCU (microprogrammed control Unit), wherein the first hydraulic cylinder support, the second hydraulic cylinder support and the third hydraulic cylinder support are hydraulic telescopic cylinders, each hydraulic telescopic cylinder comprises an outer end hydraulic cylinder and a hydraulic piston, each hydraulic piston is a telescopic end, a foot plate is arranged below each hydraulic piston, a gravity sensor is arranged between the tail end of each hydraulic piston and the corresponding foot plate, the first hydraulic cylinder support is connected with a car chassis through a steering displacement device, each steering displacement device comprises a rotating motor, a linear motor and a guide rail, an output shaft of each rotating motor is rigidly connected with a stator of the linear motor and the guide rail, a rotor of the linear motor is rigidly connected with the first hydraulic cylinder support, and the guide rails are matched with sliding blocks, the slide block is rigidly connected with the first hydraulic cylinder strut, the linear motor drives the first hydraulic cylinder strut to displace along the guide rail, the outer end hydraulic cylinder of the second hydraulic cylinder support and the outer end hydraulic cylinder of the third hydraulic cylinder support are rigidly connected with the chassis, the first hydraulic cylinder strut, the second hydraulic cylinder strut and the third hydraulic cylinder strut are arranged on the chassis in a triangular shape, the microprocessor MCU is respectively connected with the gravity sensor, the rotating motor and the linear motor of the first hydraulic cylinder strut, the second hydraulic cylinder strut and the third hydraulic cylinder strut, the gravity sensors of the first, second and third hydraulic cylinder struts send pressure signals to the microprocessor MCU, and the microprocessor MCU calculates the gravity center position of the vehicle according to the pressure signal and controls the rotary motor and the linear motor to work.
2. The passenger car pivot steering device according to claim 1, comprising a liquid storage tank, a hydraulic pump, a front hydraulic valve and a rear hydraulic valve, wherein the liquid storage tank is connected with the front hydraulic valve and the rear hydraulic valve respectively through the hydraulic pump, the front hydraulic valve supplies oil to the first hydraulic cylinder support column through a pipeline, the rear hydraulic valve supplies oil to the second hydraulic cylinder support column and the third hydraulic cylinder support column through a pipeline, and the microprocessor MCU controls the hydraulic pump, the front hydraulic valve and the rear hydraulic valve to operate respectively.
3. The passenger car pivot steering device according to claim 1, wherein the hydraulic telescopic cylinder comprises an inner end hydraulic cylinder, a return tension spring and a return tension spring disc, the outer end hydraulic cylinder, the inner end hydraulic cylinder and the hydraulic piston are sequentially sleeved to form a hydraulic telescopic structure, the return tension spring disc is rigidly connected to the hydraulic piston, and the return tension spring is connected between the outer end hydraulic cylinder and the return tension spring disc.
4. The pivot steering device for passenger cars of claim 1, wherein the top of the outer hydraulic cylinder of the hydraulic telescopic cylinder is rigidly connected with a sealing disc, and the sealing disc of the first hydraulic cylinder support column is rigidly connected with the slide block and the mover of the linear motor respectively.
5. The passenger vehicle pivot steering apparatus of claim 1, wherein the gravity sensor is connected below the hydraulic piston, and wherein the gravity sensor is connected to a thrust bearing, and wherein the thrust bearing is rigidly connected to the foot plate.
6. A control method of a passenger car pivot steering apparatus, which is operated based on the passenger car pivot steering apparatus according to any one of claims 1 to 5, wherein the first, second, and third hydraulic cylinder struts are first extended and support a vehicle with wheels suspended, the position of the center of gravity of the vehicle is calculated by the microprocessor MCU based on pressure signals measured by the gravity sensor of the first hydraulic cylinder strut, the gravity sensor of the second hydraulic cylinder strut, and the gravity sensor of the third hydraulic cylinder strut, the first, second, and third hydraulic cylinder struts are then retracted, the rotation motor is controlled to rotate by an angle based on the position of the center of gravity of the vehicle, and the linear motor is controlled to operate so that the first hydraulic cylinder strut is moved to the position of the center of gravity of the vehicle, and finally, enabling the first hydraulic cylinder strut to be in an extending state and supporting the vehicle to enable the wheel to be suspended.
7. The control method of the pivot steering device for the passenger vehicle according to claim 6, wherein the center of gravity of the vehicle is calculated by using the center position of the first hydraulic cylinder strut as an origin, and the center of gravity of the vehicle is calculated by establishing a rectangular plane coordinate system with the initial direction of the guide rail as an X-axis, wherein the plane of the rectangular plane coordinate system is parallel to a lower plane of a chassis of the vehicle.
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| CN201811580241.2A CN109774676B (en) | 2018-12-24 | 2018-12-24 | Passenger car pivot steering device and control method thereof |
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| CN201811580241.2A CN109774676B (en) | 2018-12-24 | 2018-12-24 | Passenger car pivot steering device and control method thereof |
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| CN109774676B true CN109774676B (en) | 2020-08-11 |
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| CN112722074B (en) * | 2021-01-29 | 2022-04-26 | 常熟理工学院 | Automobile static turning device and control method thereof |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2034936U (en) * | 1988-03-10 | 1989-03-29 | 单佺 | In-situ steering device for motor vehicle |
| CN2038465U (en) * | 1988-06-02 | 1989-05-31 | 单佺 | In-situ turning gear for motor vehicles |
| JP2000313587A (en) * | 1999-04-28 | 2000-11-14 | Kinki Ishiko Kk | Moving device |
| JP2003267259A (en) * | 2002-03-15 | 2003-09-25 | Sanyo Electric Co Ltd | Omnidirectional vehicle and its step overpassing method |
| CN2774871Y (en) * | 2004-09-14 | 2006-04-26 | 陈光旭 | In-situ U-turn assembly for car |
| CN101934783A (en) * | 2009-06-30 | 2011-01-05 | 昆山骅盛电子有限公司 | Automobile automatic steering device |
| CN104609335B (en) * | 2015-03-10 | 2017-08-11 | 程勋业 | Multifunctional vehicle lifting turns to mobile across fault device |
| CN104802769A (en) * | 2015-05-22 | 2015-07-29 | 陈烁 | In-situ steering automotive chassis |
| CN205131214U (en) * | 2015-11-30 | 2016-04-06 | 上海工程技术大学 | Car mire device of getting rid of poverty |
| CN206842914U (en) * | 2017-06-13 | 2018-01-05 | 中冶建工集团有限公司 | Vertical elevator pivot stud structure |
| CN108437953A (en) * | 2018-03-16 | 2018-08-24 | 浙江工业职业技术学院 | It is capable of the automobile of pivot stud |
| CN108407777A (en) * | 2018-03-16 | 2018-08-17 | 浙江工业职业技术学院 | The pivot stud structure and automobile of automobile |
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