CN103802629A - Chassis with adjustable transverse wheel tread and adjustable ground clearance and adjusting method of chassis - Google Patents
Chassis with adjustable transverse wheel tread and adjustable ground clearance and adjusting method of chassis Download PDFInfo
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- CN103802629A CN103802629A CN201310740233.0A CN201310740233A CN103802629A CN 103802629 A CN103802629 A CN 103802629A CN 201310740233 A CN201310740233 A CN 201310740233A CN 103802629 A CN103802629 A CN 103802629A
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Abstract
The invention discloses a self-propelled chassis with an adjustable transverse wheel tread and an adjustable ground clearance. The self-propelled chassis is composed of a frame, a front axle, a rear axle, a power system, a ground clearance adjusting system, a transverse wheel tread adjusting system and a steady adjusting and controlling system. The power system comprises an engine, a clutch, a pump station, a hydraulic motor, a proportional valve and the like. The ground clearance adjusting system comprises a controller, a servo valve, ground clearance adjusting hydraulic cylinders and the like, wherein the controller adjusts the four ground clearance adjusting hydraulic cylinders through the servo valve to synchronously ascend and descend to change the ground clearance of the chassis. The transverse wheel tread adjusting system comprises a servo valve, a controller, a wheel tread adjusting hydraulic cylinder and the like, wherein the hydraulic cylinder drives a piston rod according to an instruction of the controller, drives an axle shaft connecting piece to move through a connecting flange, pushes wheels to transversely move and adjusts the transverse wheel tread of the chassis. The steady adjusting and controlling system controls flows of the four ground clearance adjusting hydraulic cylinders respectively through the servo valve according to unsteady signals, collected by a gyroscope, of the front axle and unsteady signals, collected by the gyroscope, of the rear axle, and automatically adjusts balance and stability of the chassis.
Description
Technical field:
The present invention relates to a kind of high-clearance self-propelled chassis, particularly a kind of lateral wheel apart from all adjustable high-adaptability implement porters of ground Clearance.
Technical background:
In order to be suitable for the field management requirement of the high bar in farmland, different line width crops, often need high-clearance and can adjust the walking chassis of horizontal Track width, and existing high-clearance walking chassis adopts mechanical drive more, transmission stability is low, from great, ground Clearance is fixed, lateral wheel is apart from unadjustable, Applicable scope is little, thereby in order to be suitable for the multiple ground Clearance of Different Crop height and the farm work requirement of different line width, development ground gap and lateral wheel are apart from all adjustable walking chassis is significant.
Publication number is the Chinese patent " high-clearance self-propelled chassis that a kind of ground Clearance is adjustable " of CN103158480A, be provided with ground gap control system, by controller, servovalve, four ground gap regulator solution cylinder pressure compositions, in the time that job requirements chassis changes ground gap, can regulate the synchronization lifting of four ground gap regulator solution cylinder pressures to change the chassis ground Clearance by controller control servovalve.But the lifting action of four ground gap regulator solution cylinder pressures acts in agreement all the time, adjustable height is consistent, and therefore, the smooth running on chassis is poor.In the time that ground, field is not steady, can cause chassis to tilt, reduce efficiency and the quality of spraying machine spraying, even damage spray boom.In addition, the lateral wheel on above-mentioned chassis, apart from unadjustable, can not adapt to the different row spacing requirements of Different Crop, and for this reason, development can regulate the chassis of lateral wheel distance necessary.
Summary of the invention:
The object of the invention is in order to adapt to the farm work requirement of multiple ground Clearance and the different line width of crop, reduces the damage to crop, improves the stability of advancing in chassis, design a kind of lateral wheel apart from all adjustable high-adaptability implement porters of ground Clearance.
In order to achieve the above object, the technical scheme that the present invention takes: a kind of lateral wheel apart from all adjustable high-clearance self-propelled chassis of ground Clearance, comprise vehicle frame, front axle, rear vehicle bridge, operator's compartment, liftable ladder, lifting hydraulic cylinder, power system, ground gap control system, lateral wheel are apart from control system, balance regulation system.
Power system comprises driving engine, power-transfer clutch, pumping plant, hydraulic steering gear, HM Hydraulic Motor, apportioning valve.Driving engine, pumping plant are bolted on vehicle frame, and driving engine connects pumping plant by power-transfer clutch, and pumping plant is by driving four vehicle wheel rotations of four fluid motor-driven.Four apportioning valves are connected to four HM Hydraulic Motor by bolt, and HM Hydraulic Motor is articulated with respectively motor attaching parts, and motor attaching parts is connected to front axle vertical axes, rear vehicle bridge vertical axes by bolt.Hydraulic steering gear closure dish, regulates hydraulic steering gear to control four apportioning valve openings by steering wheel rotation, thereby regulates the discharge capacity of four HM Hydraulic Motor, regulates the rotating speed of four wheels, realizes four-wheel differentia and turns to.
Operator's compartment is connected on vehicle frame, and front axle comprises: front axle crossbeam, front axle vertical axes, front axle contiguous block, the left and right anticollison block of front axle, front axle damping spring.Front axle crossbeam and front axle contiguous block are fixed, and front axle is hinged by front axle contiguous block and vehicle frame, and front axle damping spring is enclosed within on the left and right anticollison block of front axle, and the left and right anticollison block of front axle connects respectively on front axle crossbeam by welding.
Rear vehicle bridge comprises: rear vehicle bridge crossbeam, rear vehicle bridge vertical axes, rear car bridge contiguous block, rear vehicle bridge damper spring steel plate.Rear car bridge contiguous block and rear vehicle bridge crossbeam are affixed.Rear vehicle bridge is hinged by rear car bridge contiguous block and vehicle frame.Damper spring steel plate is bolted on rear car bridge contiguous block and vehicle frame.
Liftable ladder is articulated with on vehicle frame, and lifting hydraulic cylinder is by hinged liftable ladder and the front axle of connecting respectively.
Lateral wheel comprises servovalve, controller, wheelspan regulator solution cylinder pressure apart from control system, wheelspan regulator solution cylinder pressure, piston rod, connecting flange, wheelspan adjusting slider are housed in forward and backward vehicle bridge crossbeam, the piston rod of wheelspan regulator solution cylinder pressure by connecting flange with to be arranged on bridge shaft coupling piece on wheelspan adjusting slider affixed, hydraulic actuating cylinder is under the instruction of controller, piston rod cross travel, drive bridge shaft coupling piece to move to regulate the transverse shifting of wheel by connecting flange again, regulate the lateral wheel distance on chassis.
Ground gap control system is by controller, servovalve, four ground gap regulator solution cylinder pressures compositions.Gap regulator solution cylinder pressure one end, four ground connects respectively front axle vertical axes, rear vehicle bridge vertical axes by screw thread bush.The other end is connected with the bridge shaft coupling piece of forward and backward vehicle bridge respectively; In the time that chassis need to change ground gap operation, can regulate the synchronization lifting of four ground gap regulator solution cylinder pressures to change the chassis ground Clearance by controller control servovalve.
Steadily regulator control system comprise the gyroscope that is installed in front axle and rear vehicle bridge, servovalve, controller, gap regulator solution cylinder pressure; In the operation process of chassis, steadily information of the front axle gathering according to gyroscope and angle, the degree of dip etc. of rear vehicle bridge, controller control servovalve regulates respectively the lifting of four ground gap regulator solution cylinder pressures to change the attitude of forward and backward vehicle bridge in real time, thereby guarantees the stationarity of chassis walking.
The present invention has following technology beneficial effect: the steady information of the front axle that can gather by gyroscope and rear vehicle bridge, controller control servovalve carrys out to regulate in real time respectively four ground gap regulator solution cylinder pressure liftings and changes the attitude of forward and backward vehicle bridge, steadily adjust the chassis ground Clearance, overcome ground, field not steady, the pulsation-free crossing ability of advancing that guarantees chassis, is suitable for the farm work requirement of multiple ground Clearance.Also can, by the flexible wheel transverse pitch that regulates of wheelspan regulator solution cylinder pressure in controller control vehicle bridge crossbeam, adapt to various crop, the requirement of same crop different spacings to Track width.
Accompanying drawing explanation:
Fig. 1 is axonometric drawing of the present invention
Fig. 2 is top view of the present invention
Fig. 3 is the front elevation of vehicle bridge
Fig. 4 is the axonometric drawing of vehicle bridge
Fig. 5 is the axonometric drawing of back axle
Fig. 6 is working-flow figure
In figure: 1-operator's compartment; 2-handrail; 3-propons left wheel; 4-lifting hydraulic cylinder; 5-lifting ladder; 6-front axle; The right wheel of 7-propons; 8-wheel; 9-front axle damper spring; 10-rear vehicle bridge; 11-rear vehicle bridge damper spring steel plate; 12-gyroscope; 13-vehicle frame; 14-power-transfer clutch; 15-driving engine; 16-controller; 17-servovalve; 18-bearing circle; 19-hydraulic steering gear; 20-pumping plant; 21-hydraulic reservoir; 22-anticollison block; 23-front axle contiguous block; 24-bolt; 25-vehicle bridge crossbeam; 26-wheelspan regulator solution cylinder pressure; 27-piston rod; 28-connecting flange; 29-wheelspan adjusting slider; 30-bridge shaft coupling piece; 31-ground gap regulator solution cylinder pressure; 32-screw thread bush; 33-vehicle bridge vertical axes; 34-motor attaching parts; 35-apportioning valve; 36-HM Hydraulic Motor; 37-rear car bridge contiguous block.
The specific embodiment:
Below in conjunction with accompanying drawing, the present invention is described further.
Operator's compartment 1 is connected on vehicle frame 13, and front axle 6 is articulated with on vehicle frame 13 by front axle contiguous block 23, and rear vehicle bridge 10 is articulated with on vehicle frame 13 by rear car bridge contiguous block 37.Liftable ladder 5 is realized the lifting of ladder 5 by the motion of lifting hydraulic cylinder 4, liftable ladder 5 is by being articulated and connected on vehicle frame 13, the hinged liftable ladder 5 of lifting hydraulic cylinder 4 and front axle 6, and handrail 2 guarantees the safety that chaufeur is got on or off the bus.
Four HM Hydraulic Motor 36 are articulated with respectively motor attaching parts 34, and motor attaching parts 34 is bolted front axle vertical axes 33 and 33, four apportioning valves 35 of back axle vertical axes are connected to four HM Hydraulic Motor 36 by bolt.
Front axle damper spring 9 connecting vehicle frames 13 and front axle 6, the left and right anticollison block 22 of front axle is fixed in respectively on front axle crossbeam 25, as is welded to front axle crossbeam 25.Rear vehicle bridge damper spring steel plate 11 by Bolt Connection on rear car bridge contiguous block 37 and vehicle frame 13.Front axle damper spring 9, rear vehicle bridge damper spring steel plate 11 can reduce vehicle body because encouraging the vibration and the impact that produce in ground, improve riding stability and the driver comfort on walking chassis.
One end of four ground gap regulator solution cylinder pressures 31 is connected in respectively front axle vertical axes 33 by screw thread bush 32 and 33, four ground gap regulator solution cylinder pressure 31 other ends of rear vehicle bridge vertical axes are welded in respectively bridge shaft coupling piece 30.In the time that walking chassis need to be in different ground Clearance operation, can control servovalve 17 by controller 16 and regulate four ground gap regulator solution cylinder pressure 31 synchronization liftings to change the chassis ground Clearance.
Gyroscope 12 is installed in front axle 6 and rear vehicle bridge 10, in the operation process of chassis, the front axle 6 that controller 16 gathers according to gyroscope 12 and the steady information of rear vehicle bridge 10, act on four ground gap regulator solution cylinder pressures 31 by servovalve 17 and regulate in real time the steady of front and back vehicle bridge and chassis.
Wheelspan regulator solution cylinder pressure 26, piston rod 27, connecting flange 28, wheelspan adjusting slider 29 are housed in forward and backward vehicle bridge crossbeam 25, hydraulic actuating cylinder 26 is under the instruction of controller 16, piston rod 27, drive bridge shaft coupling piece 30 cross motions by connecting flange 28, and then promote wheel 8 transverse shiftings, regulate respectively between the front-wheel of left and right, lateral wheel distance between the trailing wheel of left and right.Wheelspan adjusting slider 29 can laterally slide in the interior left and right of forward and backward vehicle bridge crossbeam 25, and wide for supporting the horizontal tune that forward and backward vehicle bridge bridge shaft coupling piece 30 realizes wheelspan, and guarantees the strength and stiffness of forward and backward vehicle bridge bridge shaft coupling piece 30.
Claims (7)
- Lateral wheel apart from and all adjustable chassis of ground Clearance, comprise lifting hydraulic cylinder (4), front axle (6), wheel (8), front axle damper spring (9), rear vehicle bridge (10), rear vehicle bridge damper spring steel plate (11), vehicle frame (13), gap control system, lateral wheel apart from control system, power system, front axle (6) is provided with front axle attaching parts (23), front axle crossbeam (25), front axle damper spring (9), front axle (6) is hinged by front axle attaching parts (23) and vehicle frame (13), front axle (6) and the middle front axle damper spring (9) that is provided with of vehicle frame (13), rear vehicle bridge (10) is provided with rear car bridge contiguous block (37), rear vehicle bridge crossbeam (25), rear vehicle bridge damper spring steel plate (11), rear vehicle bridge (10) is hinged by back axle contiguous block (37) and vehicle frame (13), and rear vehicle bridge damper spring steel plate (11) is installed in the middle of rear vehicle bridge (10) and vehicle frame (13), it is characterized in that: lateral wheel comprises servovalve (17) apart from control system, controller (16), wheelspan regulator solution cylinder pressure (26), before, wheelspan regulator solution cylinder pressure (26) is housed in rear vehicle bridge crossbeam (25), its piston rod (27) by connecting flange (28) with to be arranged on bridge shaft coupling piece (30) on wheelspan adjusting slider (29) affixed, controller (16) regulates wheel (8) transverse shifting being connected with bridge shaft coupling piece (30) by the cross travel of servovalve (17) adjusting piston bar (27), regulate the lateral wheel distance on chassis.
- Lateral wheel according to claim 1 apart from and all adjustable chassis of ground Clearance, it is characterized in that: described ground gap control system comprise servovalve (17), controller (16), gap regulator solution cylinder pressure (31); Gap regulator solution cylinder pressure (31) one end, four ground connects respectively forward and backward vehicle bridge vertical axes, the other end is connected with the bridge shaft coupling piece (30) of forward and backward vehicle bridge respectively, and controller (16) regulates four ground gap regulator solution cylinder pressure (31) synchronization liftings to change the chassis ground Clearance by servovalve (17).
- 3. lateral wheel distance according to claim 1 and 2 and all adjustable chassis of ground Clearance, it is characterized in that: also comprise steady regulator control system, steadily regulator control system is by gyroscope (12), controller (16), servovalve (17), four ground gap regulator solution cylinder pressures (31) composition, gyroscope (12) is installed in front axle (6) and rear vehicle bridge (10), the front axle (6) that controller (16) gathers according to gyroscope (12) and the steady information of rear vehicle bridge (10), act on respectively before four ground gap regulator solution cylinder pressures (31) adjusting in real time by servovalve (17), rear vehicle bridge and chassis steadily.
- 4. lateral wheel distance according to claim 1 and all adjustable chassis of ground Clearance, is characterized in that: described power system comprises power-transfer clutch (14), driving engine (15), pumping plant (20), HM Hydraulic Motor (36), apportioning valve (35); Driving engine (15) connects with vehicle frame (13); Four HM Hydraulic Motor (36) are hinged with four motor attaching partss (34) respectively, four motor attaching partss (34) are connected with forward and backward vehicle bridge vertical axes (33) respectively, and four apportioning valves (35) are connected to four HM Hydraulic Motor (36).
- According to claim 1,2, one of 4 described lateral wheel apart from and all adjustable chassis of ground Clearance, it is characterized in that: described hydraulic actuating cylinder can be replaced by air cylinder.
- 6. lateral wheel distance according to claim 3 and all adjustable chassis of ground Clearance, is characterized in that: described hydraulic actuating cylinder can be replaced by air cylinder
- According to claim 1 a kind of lateral wheel apart from and all control methods on adjustable chassis of ground Clearance, it is characterized in that comprising the following steps:Step 1, require according to required chassis lateral wheel distance, lateral wheel is controlled the flow of servovalve (17) by controller (16) apart from control system, regulate the cross travel of four wheelspan regulator solution cylinder pressures (26) to change chassis lateral wheel distance, to meet necessary requirement.Step 2, according to required chassis ground Clearance requirement, ground gap control system is controlled the flow of servovalve (17) by controller (16), gap regulator solution cylinder pressure (31) synchronization liftings that regulate four and change the chassis ground Clearance to meet necessary requirement;Step 3, gyroscope (12), in the traveling process of chassis, carries out Real-time Collection to the angle of inclination of front axle (6), rear vehicle bridge (10) and vehicle frame (13);Step 4, the angle of inclination information of front axle (6), rear vehicle bridge (10) and vehicle frame (13) that controller (16) gathers according to gyroscope (12), goes out four ground gap regulator solution cylinder pressures (31) required regulated quantity separately by related algorithm real-time estimate;Step 5, according to four ground gap regulator solution cylinder pressures (31) required real-time regulated quantity separately, servovalve (17) passes through hydraulic flow control action in ground gap regulator solution cylinder pressure (31), inclination to front and back vehicle bridge and chassis regulates, to meet the stationarity requirement on chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310740233.0A CN103802629B (en) | 2013-12-27 | 2013-12-27 | A kind of lateral wheel is apart from the chassis all adjustable with the ground Clearance and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310740233.0A CN103802629B (en) | 2013-12-27 | 2013-12-27 | A kind of lateral wheel is apart from the chassis all adjustable with the ground Clearance and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103802629A true CN103802629A (en) | 2014-05-21 |
| CN103802629B CN103802629B (en) | 2016-01-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310740233.0A Expired - Fee Related CN103802629B (en) | 2013-12-27 | 2013-12-27 | A kind of lateral wheel is apart from the chassis all adjustable with the ground Clearance and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103802629B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163085A (en) * | 2014-08-04 | 2014-11-26 | 浙江吉利控股集团有限公司 | Automobile wheel tread adjusting device |
| CN104589917A (en) * | 2015-01-22 | 2015-05-06 | 扬州金威环保科技有限公司 | Front axle wheel tread regulating device |
| CN107094402A (en) * | 2017-05-09 | 2017-08-29 | 兰州兰石集团有限公司 | Self-propelled full film double-furrow seeder |
| CN107521404A (en) * | 2017-09-29 | 2017-12-29 | 湖南沃德诺威信息科技有限公司 | Mobile vehicle maintenance of equipment |
| CN107554228A (en) * | 2017-10-19 | 2018-01-09 | 刘华英 | A kind of adjustable angle of stability, extensible engineering machinery chassis |
| CN107628144A (en) * | 2017-10-25 | 2018-01-26 | 福建农林大学 | The adjustable probe rod type of driving tread keeps away a fluid pressure underpan and its control method |
| CN107624344A (en) * | 2017-10-25 | 2018-01-26 | 福建农林大学 | A kind of variable machine vision formula of wheelspan keeps away a fluid pressure underpan and application method |
| CN108450451A (en) * | 2018-05-25 | 2018-08-28 | 江苏银涛智能装备有限公司 | A kind of adjustable tunnel type sprayer of working width |
| CN108790588A (en) * | 2018-08-02 | 2018-11-13 | 泗县伟达农机具有限公司 | Fluid pressure type agricultural machinery vehicle stabilizer and the agricultural machinery vehicle for using the stabilizer |
| CN108790602A (en) * | 2018-06-01 | 2018-11-13 | 山东五征集团有限公司 | Ground gap can electrodeless adjustment tractor steering bridge |
| CN108931669A (en) * | 2018-04-06 | 2018-12-04 | 盐城同舟电气有限公司 | A kind of fixed device of curved surface electric instrument |
| CN109278486A (en) * | 2018-08-24 | 2019-01-29 | 安徽信息工程学院 | For the adjustable chassis of robot |
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| CN110027615A (en) * | 2019-05-20 | 2019-07-19 | 深圳市汇力堡汽车文化传播有限公司 | A kind of adjustable vehicle bridge of mechanical performance, chassis and automobile |
| CN110154999A (en) * | 2019-05-30 | 2019-08-23 | 姚先同 | A kind of Telescopic steam chassis and the automobile using the chassis |
| CN110267825A (en) * | 2016-11-24 | 2019-09-20 | 特里戈有限公司 | Vehicle with changeable wheel track |
| CN110506475A (en) * | 2019-09-09 | 2019-11-29 | 江苏大学 | A kind of automatic transplanter for plug seedling chassis |
| CN111512724A (en) * | 2020-06-04 | 2020-08-11 | 扬州大学 | Variable walking platform of ground clearance and wheel tread |
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| CN114771538A (en) * | 2022-05-31 | 2022-07-22 | 农业农村部南京农业机械化研究所 | Agricultural four-wheel drive chassis and control method thereof |
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| CN117121783A (en) * | 2023-10-08 | 2023-11-28 | 遵义金丰农资有限公司 | Idesia polycarpa seedling transplanting method and application |
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| CN104163085A (en) * | 2014-08-04 | 2014-11-26 | 浙江吉利控股集团有限公司 | Automobile wheel tread adjusting device |
| CN104163085B (en) * | 2014-08-04 | 2017-02-15 | 浙江吉利控股集团有限公司 | Automobile wheel tread adjusting device |
| CN104589917A (en) * | 2015-01-22 | 2015-05-06 | 扬州金威环保科技有限公司 | Front axle wheel tread regulating device |
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| CN107094402A (en) * | 2017-05-09 | 2017-08-29 | 兰州兰石集团有限公司 | Self-propelled full film double-furrow seeder |
| CN107521404A (en) * | 2017-09-29 | 2017-12-29 | 湖南沃德诺威信息科技有限公司 | Mobile vehicle maintenance of equipment |
| CN107554228A (en) * | 2017-10-19 | 2018-01-09 | 刘华英 | A kind of adjustable angle of stability, extensible engineering machinery chassis |
| CN107554228B (en) * | 2017-10-19 | 2020-05-15 | 刘华英 | Adjustable stable angle, engineering machine tool chassis that can extend |
| CN107624344A (en) * | 2017-10-25 | 2018-01-26 | 福建农林大学 | A kind of variable machine vision formula of wheelspan keeps away a fluid pressure underpan and application method |
| CN107628144B (en) * | 2017-10-25 | 2023-08-18 | 福建农林大学 | Probe type pile avoiding hydraulic chassis with adjustable driving wheel tread and control method thereof |
| CN107628144A (en) * | 2017-10-25 | 2018-01-26 | 福建农林大学 | The adjustable probe rod type of driving tread keeps away a fluid pressure underpan and its control method |
| CN108931669A (en) * | 2018-04-06 | 2018-12-04 | 盐城同舟电气有限公司 | A kind of fixed device of curved surface electric instrument |
| CN108450451A (en) * | 2018-05-25 | 2018-08-28 | 江苏银涛智能装备有限公司 | A kind of adjustable tunnel type sprayer of working width |
| CN108450451B (en) * | 2018-05-25 | 2024-05-28 | 江苏银涛智能装备有限公司 | Tunnel type sprayer with adjustable operation width |
| CN108790602A (en) * | 2018-06-01 | 2018-11-13 | 山东五征集团有限公司 | Ground gap can electrodeless adjustment tractor steering bridge |
| CN108790588A (en) * | 2018-08-02 | 2018-11-13 | 泗县伟达农机具有限公司 | Fluid pressure type agricultural machinery vehicle stabilizer and the agricultural machinery vehicle for using the stabilizer |
| CN109278486A (en) * | 2018-08-24 | 2019-01-29 | 安徽信息工程学院 | For the adjustable chassis of robot |
| CN109466655A (en) * | 2018-10-30 | 2019-03-15 | 南京农业大学 | Field crops phenotype monitoring robot |
| CN112912261A (en) * | 2018-12-27 | 2021-06-04 | 株式会社久保田 | Working vehicle |
| CN110027615A (en) * | 2019-05-20 | 2019-07-19 | 深圳市汇力堡汽车文化传播有限公司 | A kind of adjustable vehicle bridge of mechanical performance, chassis and automobile |
| CN110154999A (en) * | 2019-05-30 | 2019-08-23 | 姚先同 | A kind of Telescopic steam chassis and the automobile using the chassis |
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| CN111512724A (en) * | 2020-06-04 | 2020-08-11 | 扬州大学 | Variable walking platform of ground clearance and wheel tread |
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| CN114771538B (en) * | 2022-05-31 | 2023-02-17 | 农业农村部南京农业机械化研究所 | Agricultural four-wheel drive chassis and control method thereof |
| CN115042894A (en) * | 2022-06-29 | 2022-09-13 | 南京农业大学 | Motion control system and steering control method of dry farmland four-wheel electric-driven robot |
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| CN103802629B (en) | 2016-01-27 |
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