CN102806847B - Control system and method of electric truck - Google Patents
Control system and method of electric truck Download PDFInfo
- Publication number
- CN102806847B CN102806847B CN201210288693.XA CN201210288693A CN102806847B CN 102806847 B CN102806847 B CN 102806847B CN 201210288693 A CN201210288693 A CN 201210288693A CN 102806847 B CN102806847 B CN 102806847B
- Authority
- CN
- China
- Prior art keywords
- motor
- control assembly
- motor control
- gear
- accelerator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a control system and a method of an electric truck, in particular to a control system and a method of an electric truck without a mechanical brake pedal, and belongs to the field of electromechanics. The control system comprises a battery pack (1), an alternating-current motor controller assembly (2), an alternating-current motor (3), an electromagnetic brake (4), a mode conversion switch (5), an accelerator assembly (6), a forward/backward switch (7) and a power supply lock (8). The programming performance and the braking performance of the conventional electric truck without the mechanical brake pedal are poorer, and the conventional electric truck does not have functions of fault warning and power saving. Aiming at the defects of the prior art, the invention provides the control system and the method of the electric truck. The good programming performance, the good power conversion efficiency, the low-power protection function are brought for the electric truck, and particularly the good braking performance is brought for the electric truck.
Description
Technical field
The present invention relates to a kind of electrocar control system and method, be specifically related to a kind of control system and method for electrocar of mechanical brake pedal, belong to electro-mechanical arts.
Background technology
Electrocar is electric pallet truck again, is the instrument for the carrying of plane point-to-point.In each link of logistics, electrocar bears the linking effect between each transit link.Each truck or lorry are all equipped with an electrocar, loading and unloading operation will be made more efficient and convenient, and due to its small volume, therefore travel flexibly, lessly to limit by place.
As shown in Figure 1, the directionless dish of this car, mechanical brake pedal, user only has by an one control lever maneuver vehicle electrocar that the present invention mentions, user stands on the ground or is sitting on vehicle and drives.The electrocar of brakeless pedal is suitable for short range transport, and its advantage is the waste of power not having machinery to stop, and significantly reduces the wearing and tearing of component of machine.
In prior art, the electrocar of mechanical brake pedal mainly uses DC controller and direct current series-excited motor, and straight-flow system is in electric energy conversion, and the system relatively preferably done in industry can only convert the 70%-80% of electric energy to mechanical energy.In operational process, all braking effects are entirely by control system regulation and control, external this kind of vehicle uses spring return function function to pull brake wheel brake on motor gear box, but this mechanism is along with the increase of vehicle period of service, and brake wheel friction lining can reduce gradually, causes brake failure.Programmatic, the braking ability of the electrocar of the mechanical brake pedal of prior art are poor, and do not have warning failure and electricity-saving function.
Summary of the invention
The object of the invention is:
For the deficiencies in the prior art, provide a kind of electrocar control system and method, be specifically related to a kind of control system and method for electrocar of mechanical brake pedal.The present invention brings good programmability by for electrocar; Good energy conversion efficiency and low electric quantity protective function; Especially good braking ability is brought.
Object of the present invention realizes by following technical scheme:
A kind of electrocar control system, include battery pack, AC motor control assembly, alternating-current motor/AC motor, magnet stopper, mode conversion switch, accelerator assembly, forward/backward switch and power lock, described battery pack, AC motor control assembly, alternating-current motor/AC motor are connected by cable, battery pack sends electric energy to alternating-current motor/AC motor by AC motor control assembly, AC electrical drive end unit is provided with magnet stopper, and magnet stopper is connected with AC motor control assembly; The mouth of described battery pack is also connected with power lock, power lock has OFF shelves, I shelves and II shelves, I shelves connection mode change-over swith, the AC motor control assembly successively of power lock, the II shelves of power lock connect accelerator assembly, forward/backward switch respectively, and accelerator assembly, forward/backward switch are connected to AC motor control assembly again respectively; The power input of described AC motor control assembly is provided with main contactor, AC motor control assembly and magnet stopper energising during main contactor adhesive; Described accelerator assembly comprises resistance-type accelerator, the bottom of the accelerator rod of resistance-type accelerator is provided with micro-switch, the control lever of micro-switch and electrocar is in transmission connection, and concrete annexation is install drag-line in the hole on resistance-type accelerator top, drag-line attended operation bar bottom; Described mode conversion switch has drivable position and maintenance gear, and when connecting drivable position, magnet stopper and AC motor control assembly are connected, and when connecting maintenance gear, magnet stopper and battery pack are connected.
Based on the control method of above-mentioned a kind of electrocar control system, comprise the following steps:
Step one: power supply lock hanging II shelves, during the energising of AC motor control assembly, AC motor control assembly carries out oneself and detects, as the code that breaks down in detection, then AC motor control assembly stops travel operation, and vehicle cannot travel, now adjust power lock to I shelves, enter step 8; Occur as detected trouble free code, then enter step 2;
Step 2: power supply lock hanging II shelves, mode conversion switch is adjusted to drivable position, the micro-switch of user's trigger resistance formula accelerator when push bar makes accelerator rod steering angle increase to 5 ° closes, now main contactor adhesive provides electrical source of power to AC motor control assembly and AC motor control assembly provides power supply to make its braking release that is energized to magnet stopper simultaneously, AC motor control assembly starts travel operation, normal vehicle operation;
Step 3: as described in step 2, during normal vehicle operation, user makes accelerator rod steering angle increase to after 5 ° at push bar, and car speed linearly speeds along with the steering angle increase of accelerator rod;
Step 4: as described in step 2, during normal vehicle operation, user is when upwards releasing operation bar, and car speed reduces along with the steering angle of accelerator rod and linearly reduces;
Step 5: as described in step 2, during normal vehicle operation, the front inlet side of forward/backward switch receives signal, then instruction alternating-current motor/AC motor rotates forward, and vehicle advances; The retrogressing end of forward/backward switch receives signal, then instruction alternating-current motor/AC motor reversion, vehicle rollback;
Step 6: as described in step 2, during normal vehicle operation, user upwards releasing operation bar to when restoring to the original state, the micro-switch of resistance-type accelerator disconnects, magnet stopper adhesive alternating-current motor/AC motor is with braking, and AC motor control assembly quits work, and vehicle is in parked state;
Step 7: detect battery pack dump energy when AC motor control assembly runs, when battery pack dump energy is lower than preset alarm value, AC motor control assembly sends warning;
Step 8: vehicle is when other electric components except magnet stopper and mode conversion switch break down, power supply lock hanging I shelves or II shelves, mode conversion switch can be adjusted to maintenance gear by user, now magnet stopper is not communicated with AC motor control assembly, battery pack is powered directly to magnet stopper and is made it brake release, and vehicle can rely on external force to carry out.
Beneficial effect of the present invention is:
The present invention brings good programmability by for electrocar; Good energy conversion efficiency and low electric quantity protective function; Especially good braking ability is brought.
1, the present invention brings good programmability by for electrocar, and acceleration/accel, speed, deceleration/decel, magnet stopper locking time can adjust.
2, in prior art, the electrocar of mechanical brake pedal mainly uses DC controller and direct current series-excited motor, and straight-flow system is in electric energy conversion, and the system relatively preferably done in industry can only convert the 70%-80% of electric energy to mechanical energy.
The present invention uses ac control system and AC induction motor, and this system can well improve energy conversion efficiency, can reach more than 90%, makes the power saving more of this car, economize energy, increases travelled distance far away when same battery simultaneously.It is fast that alternating current dynamo also has acceleration, the advantages such as tractive force is large.
The present invention has low electric quantity protective function, when battery electric quantity is lower than setting value (as 10%, this value can adjust), the speed of a motor vehicle can be dropped to a fixed value, reminds client's charging simultaneously, vehicle can be avoided battery over-discharge, extending battery life.
The electrocar of the mechanical brake pedal that 3, the present invention is directed to, this car cannot load brake pedal because of special vehicle, and in operational process, all braking effects are entirely by control system regulation and control.External this kind of vehicle uses spring return function function to pull brake wheel brake on motor gear box, but this mechanism is along with the increase of vehicle period of service, and brake wheel friction lining can reduce gradually, causes brake failure.My car uses electric power system control brake, controller passes through Signal analysis, when Acceleration Signal stops, controller can produce regenerative braking result, allows motor internal produce opposing torque, rapid stall, there is good braking effect, can Some vehicles kinetic energy be converted to electric energy simultaneously, and use mechanical brake, completely vehicle energy be converted to the heat loss that friction generates.My cars all like this can better economize energy.
Accompanying drawing explanation
Fig. 1 is electrocar control system schematic diagram of the present invention.
Fig. 2 is local structure schematic diagram of the present invention.
Fig. 3 is the annexation schematic diagram of control lever 101 of the present invention and drag-line 602.
Wherein:
1, battery pack; 2, AC motor control assembly; 3, alternating-current motor/AC motor; 4, magnet stopper; 5, mode conversion switch; 6, accelerator assembly; 7, forward/backward switch; 8, power lock; 9, main contactor; 101, control lever; 501, drivable position; 502, gear is overhauled; 600, resistance-type accelerator; 602, drag-line; 603, accelerator rod; 604, micro-switch.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described
The invention provides a kind of electrocar control system, as shown in Figure 1, battery pack 1, AC motor control assembly 2, alternating-current motor/AC motor 3, magnet stopper 4, mode conversion switch 5, accelerator assembly 6, forward/backward switch 7 and power lock 8 is included.
Battery pack 1, AC motor control assembly 2, alternating-current motor/AC motor 3 are connected by cable, battery pack 1 sends electric energy to alternating-current motor/AC motor 3 by AC motor control assembly 2, alternating-current motor/AC motor 3 afterbody is provided with magnet stopper 4, and magnet stopper 4 is connected with AC motor control assembly 2.
The mouth of battery pack 1 is also connected with power lock 8, and power lock 8 has OFF shelves, I shelves and II shelves, and power lock 8 can use the power lock of prior art, and when namely hanging over II shelves, I shelves are also connected; But when hanging over I shelves, II shelves are disconnected.I shelves connection mode change-over swith 5, the AC motor control assembly 2 successively of power lock 8, the II shelves of power lock 8 connect accelerator assembly 6, forward/backward switch 7 respectively, and accelerator assembly 6, forward/backward switch 7 are connected to AC motor control assembly 2 again respectively.
The power input of AC motor control assembly 2 is provided with main contactor 9, and during main contactor 9 adhesive, AC motor control assembly 2 and magnet stopper 4 are energized.
As shown in Figure 2 and Figure 3, accelerator assembly 6 comprises resistance-type accelerator 600, the bottom of the accelerator rod 603 of resistance-type accelerator 600 is provided with micro-switch 604, micro-switch 604 is in transmission connection with the control lever 101 of electrocar, concrete annexation is install drag-line 602 in the hole 601 on resistance-type accelerator 600 top, drag-line 602 attended operation bar 101 bottom.
Described mode conversion switch 5 has drivable position 501 and maintenance gear 502, and when connecting drivable position 501, magnet stopper 4 and AC motor control assembly 2 are connected, and when connecting maintenance gear 502, magnet stopper 4 and battery pack 1 are connected.Mode conversion switch 5 can adopt double pole double throw, magnet stopper 4 is directly connected respectively (now not connecting with AC motor control assembly 2) with battery pack 1 or magnet stopper 4 and AC motor control assembly 2 is connected.
Present invention also offers a kind of control method of electrocar control system, comprise in method instruction by programming realization, comprise the following steps:
Step one: power lock 8 hangs II shelves, when AC motor control assembly 2 is energized, AC motor control assembly 2 carries out oneself and detects, as the code that breaks down in detection, then AC motor control assembly 2 stops travel operation, now adjusts power lock 8 to I shelves, enters step 8; Occur as detected trouble free code, then enter step 2;
In step one, AC motor control assembly 2 inside allows port provide high level signal by magnet stopper 4 charging release by program.If AC motor control assembly 2 breaks down, magnet stopper 4 just cannot obtain high level signal, cannot discharge, therefore cannot moving vehicle.
Step 2: power lock 8 hangs II shelves, mode conversion switch is adjusted to drivable position 501, the micro-switch 604 of user's trigger resistance formula accelerator 600 when push bar 101 makes accelerator rod 603 steering angle increase to 5 ° closes, now main contactor 9 adhesive provides electrical source of power to AC motor control assembly 2 and AC motor control assembly 2 provides power supply to make its braking release that is energized to magnet stopper 4 simultaneously, AC motor control assembly 2 starts travel operation, normal vehicle operation.
In step 2, AC motor control assembly 2 is all connected with power supply always, and just when after main contactor 9 adhesive, big current ability enters AC motor control assembly 2 by this main contactor 9, then proceeds to alternating-current motor/AC motor 3.
Step 3: during normal vehicle operation, user makes accelerator rod 603 steering angle increase to after 5 ° at push bar 101, and car speed linearly speeds along with the steering angle increase of accelerator rod 603;
Step 4: during normal vehicle operation, user is when upwards releasing operation bar 101, and car speed reduces along with the steering angle of accelerator rod 603 and linearly reduces;
Step 5: during normal vehicle operation, the front inlet side of forward/backward switch 7 receives signal, then instruction alternating-current motor/AC motor 3 rotates forward, and vehicle advances; The retrogressing end of forward/backward switch 7 receives signal, then instruction alternating-current motor/AC motor 3 reverses, vehicle rollback;
As described in step 5, in actual traveling process, falling back during forward travel as wanted, is all generally draw back after parking.
Step 6: as described in step 2, during normal vehicle operation, user upwards releasing operation bar 101 to reinstatement time, the micro-switch 604 of resistance-type accelerator 600 disconnects, magnet stopper 4 adhesive alternating-current motor/AC motor 3 is with braking, AC motor control assembly 2 quits work, and vehicle is in parked state;
Step 7: detect battery pack 1 dump energy when AC motor control assembly 2 runs, when battery pack 1 dump energy is lower than preset alarm value, AC motor control assembly 2 sends warning;
Step 7 is controlled by AC motor control assembly 2 internal processes, AC motor control assembly 2 can check battery pack 1 dump energy at any time, when electricity lower than preset alarm value (as 5% or 10%, preferred employing 5%) time, the monitoring function part of AC motor control assembly 2 can send signal to unit: first to signal to alternating-current motor/AC motor 3, when battery pack 1 dump energy lower than preset alarm value (as 5% or 10%, preferred employing 5%) time AC motor control assembly 2 in control rate unit can carry out speed limit, such as: forget about it the end motor also can only be allowed to maintain 500 turns (being normally 4000 turns) even if will speed up device, the speed of a motor vehicle declines rapidly, thus protection battery can not overdischarge, and enough move to charge position to certain rotating speed, secondly, buzzer phone can be set up and be connected to alternating-current motor/AC motor 3, when battery pack 1 dump energy lower than preset alarm value (as 5% or 10%, preferred employing 5%) time, can outputs level signals by alternating-current motor/AC motor 3, provide electric energy to outside buzzer phone, buzzer phone sounding, plays alarm function.
Step 8: vehicle is when other electric components except magnet stopper 4 and mode conversion switch 5 break down, power lock 8 hangs I shelves or II shelves, mode conversion switch 5 can be adjusted to maintenance gear 502 by user, now magnet stopper 4 is not communicated with AC motor control assembly 2, battery pack 1 makes it brake release directly to magnet stopper 4 power supply, and vehicle can rely on external force to carry out.The present invention arranges this master mode, as long as battery pack 1 has electricity, vehicle just can be carried out to maintenance point.
The present invention has multi-protective function; alternating-current motor/AC motor 3 rear has installed magnet stopper 4 additional; if AC motor control assembly 2 regenerative braking result is malfunctioning, magnet stopper 4 can at release resistance-type accelerator 600 locking alternating-current motor/AC motor 3 rapidly within latter 1 second, allows alternating-current motor/AC motor 3 stall.If AC motor control assembly 2 has problems before startup vehicle; or alternating-current motor/AC motor 3 rear magnet stopper 4 has strange phenomena; AC motor control assembly 2 can be protected automatically, No starting vehicle, and reports at controller read-out the code that is out of order simultaneously.
Although here described by certain or some peculiar setups and illustrate the present invention, but its object do not lie in the described details of restriction, because various amendment and structure modify may be had within the scope of patent requirements, do not depart from invention spirit.
The present invention relates to the part prior art that maybe can adopt all same as the prior art to be realized.
Claims (2)
1. an electrocar control system, include battery pack (1), AC motor control assembly (2), alternating-current motor/AC motor (3), magnet stopper (4), mode conversion switch (5), accelerator assembly (6), forward/backward switch (7) and power lock (8), it is characterized in that described battery pack (1), AC motor control assembly (2), alternating-current motor/AC motor (3) is connected by cable, battery pack (1) sends electric energy to alternating-current motor/AC motor (3) by AC motor control assembly (2), alternating-current motor/AC motor (3) afterbody is provided with magnet stopper (4), magnet stopper (4) is connected with AC motor control assembly (2), the mouth of described battery pack (1) is also connected with power lock (8), power lock (8) has OFF gear, I gear and II gear, the I of power lock (8) keeps off connection mode change-over swith (5), AC motor control assembly (2) successively, the II gear of power lock (8) connects accelerator assembly (6), forward/backward switch (7) respectively, and accelerator assembly (6), forward/backward switch (7) are connected to again AC motor control assembly (2) respectively, the power input of described AC motor control assembly (2) is provided with main contactor (9), AC motor control assembly (2) and magnet stopper (4) energising during main contactor (9) adhesive, described accelerator assembly (6) comprises resistance-type accelerator (600), the bottom of the accelerator rod (603) of resistance-type accelerator (600) is provided with micro-switch (604), micro-switch (604) is in transmission connection with the control lever (101) of electrocar, concrete annexation is install drag-line (602), drag-line (602) attended operation bar (101) bottom in the hole (601) on resistance-type accelerator (600) top, described mode conversion switch (5) has traveling gear (501) and maintenance gear (502), when connecting traveling gear (501), magnet stopper (4) and AC motor control assembly (2) are connected, when connecting maintenance gear (502), magnet stopper (4) and battery pack (1) are connected.
2., based on the control method of a kind of electrocar control system according to claim 1, it is characterized in that comprising the following steps:
Step one: power lock (8) hangs II gear, during AC motor control assembly (2) energising, AC motor control assembly (2) carries out oneself and detects, as the code that breaks down in detection, then AC motor control assembly (2) stops travel operation, vehicle cannot travel, and now adjusts power lock (8) to I gear, enters step 8; Occur as detected trouble free code, then enter step 2;
Step 2: when power lock (8) hangs II gear, mode conversion switch is adjusted to and travels gear (501), the micro-switch (604) of user's trigger resistance formula accelerator (600) when push bar (101) makes accelerator rod (603) steering angle increase to 5 ° closes, now main contactor (9) adhesive provides electrical source of power to AC motor control assembly (2) and AC motor control assembly (2) provides power supply to make its braking release that is energized to magnet stopper (4) simultaneously, AC motor control assembly (2) starts travel operation, normal vehicle operation,
Step 3: as described in step 2, during normal vehicle operation, user makes accelerator rod (603) steering angle increase to after 5 ° at push bar (101), and car speed linearly speeds along with the steering angle increase of accelerator rod (603);
Step 4: as described in step 2, during normal vehicle operation, user is when upwards releasing operation bar (101), and car speed reduces along with the steering angle of accelerator rod (603) and linearly reduces;
Step 5: as described in step 2, during normal vehicle operation, the front inlet side of forward/backward switch (7) receives signal, then instruction alternating-current motor/AC motor (3) rotates forward, and vehicle advances; The retrogressing end of forward/backward switch (7) receives signal, then instruction alternating-current motor/AC motor (3) reversion, vehicle rollback;
Step 6: as described in step 2, during normal vehicle operation, user upwards releasing operation bar (101) to when restoring to the original state, the micro-switch (604) of resistance-type accelerator (600) disconnects, magnet stopper (4) adhesive alternating-current motor/AC motor (3) is to brake, AC motor control assembly (2) quits work, and vehicle is in parked state;
Step 7: detect battery pack (1) dump energy when AC motor control assembly (2) runs, when battery pack (1) dump energy is lower than preset alarm value, AC motor control assembly (2) gives the alarm;
Step 8: vehicle is when other electric components except magnet stopper (4) and mode conversion switch (5) break down, power lock (8) hangs I gear or II gear, mode conversion switch (5) can be adjusted to maintenance gear (502) by user, now magnet stopper (4) is not communicated with AC motor control assembly (2), battery pack (1) makes it brake release directly to magnet stopper (4) power supply, and vehicle can rely on external force to carry out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210288693.XA CN102806847B (en) | 2012-08-14 | 2012-08-14 | Control system and method of electric truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210288693.XA CN102806847B (en) | 2012-08-14 | 2012-08-14 | Control system and method of electric truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102806847A CN102806847A (en) | 2012-12-05 |
| CN102806847B true CN102806847B (en) | 2015-03-18 |
Family
ID=47230774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210288693.XA Active CN102806847B (en) | 2012-08-14 | 2012-08-14 | Control system and method of electric truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102806847B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0978431A1 (en) * | 1998-08-04 | 2000-02-09 | Automobiles Peugeot | Hand operated electric switch device for operation of a secondary brake of a vehicle |
| EP1892164A2 (en) * | 2006-08-24 | 2008-02-27 | Hitachi, Ltd. | Electric braking apparatus and method of controlling thereof |
| CN101505128A (en) * | 2009-03-30 | 2009-08-12 | 江苏新日电动车股份有限公司 | Shift control method for multi-stage motor |
| CN101524992A (en) * | 2008-09-27 | 2009-09-09 | 曹志汉 | Multiposition operating device of hand brake |
-
2012
- 2012-08-14 CN CN201210288693.XA patent/CN102806847B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0978431A1 (en) * | 1998-08-04 | 2000-02-09 | Automobiles Peugeot | Hand operated electric switch device for operation of a secondary brake of a vehicle |
| EP1892164A2 (en) * | 2006-08-24 | 2008-02-27 | Hitachi, Ltd. | Electric braking apparatus and method of controlling thereof |
| CN101524992A (en) * | 2008-09-27 | 2009-09-09 | 曹志汉 | Multiposition operating device of hand brake |
| CN101505128A (en) * | 2009-03-30 | 2009-08-12 | 江苏新日电动车股份有限公司 | Shift control method for multi-stage motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102806847A (en) | 2012-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107117067B (en) | A kind of electric sanitation vehicle control | |
| CN203739871U (en) | Electrical control air pressure service brake device of heavy-duty truck | |
| US20160352120A1 (en) | Electric vehicle high-voltage system alert | |
| AU2019237101A1 (en) | Power controller for controlling an electric machine in a vehicle trailer | |
| CN105365557B (en) | A kind of mine anti-explosion lithium-ions battery rubber tire transport trolley | |
| CN201745568U (en) | Heavy mineral dump truck brake control system | |
| CN103192721A (en) | Braking system and braking method of double-shaft driven electric automobile | |
| CN103318046B (en) | A kind of pure electric light bus dynamic assembly | |
| CN104723888A (en) | Motor vehicle regenerative control and brake lamp control | |
| CN206690910U (en) | Integrated form whole-control system | |
| CN102806847B (en) | Control system and method of electric truck | |
| CN101973264A (en) | Electric vacuum pump control circuit of electric vehicle | |
| CN117465217A (en) | Towed motorized vehicle control | |
| CN103158709A (en) | Automobile brake system with energy recovery function | |
| CN202923543U (en) | Remote-control driving system of electric wheel dump truck | |
| CN206346111U (en) | A kind of bridge inspection car electric control system | |
| CN203832252U (en) | Electric four-wheel mini-truck | |
| CN212401113U (en) | Whole vehicle drive-by-wire system of unmanned vehicle | |
| CN100352582C (en) | Remote controlled stepless variable frequency speed regulating towing vehicle | |
| CN201040493Y (en) | Environmental protection hydrogen and electricity power vehicle | |
| CN206589649U (en) | Pure electric van type logistics vehicle | |
| CN203819058U (en) | Traction transport vehicle | |
| CN209258289U (en) | Mobile energy storage device | |
| CN203358595U (en) | Mining wiring type narrow gauge manned motor tractor | |
| CN112606734A (en) | Control driving system for railcar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |