CN105314129B - The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system - Google Patents
The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system Download PDFInfo
- Publication number
- CN105314129B CN105314129B CN201410311103.XA CN201410311103A CN105314129B CN 105314129 B CN105314129 B CN 105314129B CN 201410311103 A CN201410311103 A CN 201410311103A CN 105314129 B CN105314129 B CN 105314129B
- Authority
- CN
- China
- Prior art keywords
- suspension
- celestial body
- wheel
- feed screw
- screw nut
- 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
- Vehicle Body Suspensions (AREA)
Abstract
A kind of passive combined celestial body suspension of master for opening up receipts, comprising: cabinet link block, elevating mechanism, double four-bar mechanisms, wheel link block.Elevating mechanism drives lead screw rotation by driving motor, and then feed screw nut is driven to move up and down, and feed screw nut limits remaining five freedom degree outside feed screw nut vertical lift by fixing with guide rail slide block；Double four-bar mechanisms realize that the near normal of its two sides wheel is gone up and down by special connection by two groups of four-bar mechanisms, ensure that wheel ground pressure is transmitted perpendicular to ground direction with this, guarantee the consistency of wheel pressure.The passive combined celestial body suspension of the master for opening up receipts of the invention and its suspension system not only can realize active lifting by feed screw nut, but also may be implemented passively to be applicable in landform by double four-bar mechanisms.
Description
Technical field
The present invention relates to the celestial body suspensions that detection is maked an inspection tour for extraterrestrial surface, more particularly to can open up the masters of receipts and passively combine
Formula celestial body suspension and its suspension system.
Background technique
For celestial body vehicle, celestial body vehicle vehicular platform requires the big low, load capacity of energy consumption, terrain adaptability and passability
Good, control is simply.This performance of celestial body vehicle depends primarily on suspension system.Now published celestial body vehicle passive type is outstanding both at home and abroad
Frame mostly uses shaft type or bridge-type balance system, is generally realized using differential mechanism or shifting fork mechanism.Axis or bridge are needed across vehicle
Body is unfavorable for the thermal control and load layout of car body itself.If unilateral suspension is directly connect with cabinet, and passive suspension can not be adjusted
Vehicle body is liftoff height, terrain adaptability can and obstacle passage capacity it is very limited.
To adapt to the limitation that remote carrying capacity is limited, the available transmission enveloping space is small, to the passive suspension of celestial body vehicle into
It has gone improvement, the folding of celestial body vehicle vehicular platform has generally been realized using more hinges, it is vehicle-mounted that car body crane adds driving part to realize
The expansion of mechanism.More hinges destroy Structural Integrity, and hinge fraction is relatively big and heavy, car body crane and the partially unfolded driving portion
Part is disposable apparatus, and resource utilization is low.
The known adjustable Active suspension of height of the carbody installs main driving mechanism generally at the hinge of passive suspension, passes through master
Dynamic control joint extension angle realizes the adjusting of car body, and relatively passive suspension needs to increase by 4 to 6 driving parts, adjusts height
It is limited, and crane can not be substituted, it is difficult to realize lightweight and resource rational utilization.Such Active suspension active joint control and
Gesture stability is complicated, real-time is poor, needs to develop effective control method, and control resource requirement is big.
In order to effectively reduce the contradiction between performance and volume, quality, the extraterrestrial surface passability of celestial body vehicle and adaptation are improved
Property, it is maximum simultaneously utilize limited resources, need suspension to have the function of good folding and be unfolded, terrain self-adaptive ability, and
It realizes that rover height of the carbody is adjustable in limited resources, needs a kind of passive combined star of master for making an inspection tour detection demand for celestial body
Ball suspension.
Summary of the invention
In view of the problems of the existing technology, the invention proposes a kind of simple and compact for structure, foldable expansion and foldings
Expansion equipment is reusable, have adaptive landform ability and vehicle body attitude height can be adjusted actively, control and can simply open up
The passive combined celestial body suspension of receipts formula master and its suspension system.
In order to solve the above technical problems, the present invention provides a kind of passive combined celestial body suspensions of master, comprising: actively rise
Descending mechanism, by driving motor drive lead screw rotation, and then drive feed screw nut move up and down, feed screw nut by with
Guide rail slide block is fixed to limit remaining five freedom degree outside feed screw nut vertical lift；And parallel rocker device, pass through one
The multi-connecting-rod mechanism of the similar parallelogram of group is the near normal lifting for realizing its two sides wheel, ensures that wheel is grounded with this
Pressure perpendicular is transmitted in ground direction.
In some embodiments, in the active lifting mechanism, lead screw upper bracket, lead screw undersetting, guide rail is fixed on celestial body
Supporting element on vehicle car body, as active lifting mechanism.
In some embodiments, the driving motor of the active lifting mechanism finally drives the silk by the transmitting of transmission chain
Thick stick nut moves up and down, thus the feed screw nut is used as the connection of the active lifting mechanism with the parallel rocker device
Part, to realize that active lifting acts the transmitting to parallel rocker device.
In some embodiments, in the parallel rocker device, pass through upright bar, upper connecting rod, rocking bar central block, lower link composition
Polygon realize passive pendulum motion so that upright bar near normal is gone up and down, and the upright bar passes through wheel connector
It is connected to wheel.
In some embodiments, including two upper connecting rods of a lower link and left and right, it is closed by the way that bar is long with pitch-row
Reason is chosen, and when the parallel rocker device may be implemented rotating around the rocking bar central block, the upright bar can be near normal liter
Drop, to ensure that the wheel ground pressure is vertically transmitted to the link assembly.
In some embodiments, supporting element of the rocking bar central block as the parallel rocker device provides 3 support rotations
Turn pair, wherein the lower link and the rocking bar central block are freely rotated around articulation hole with bolt, the upper connecting rod and described shakes
Bar central block is freely rotated around articulation hole with bolt, and the upright bar and upper connecting rod are freely rotated around articulation hole with bolt, described vertical
Bar is freely rotated around articulation hole with bolt with the lower link.
In some embodiments, the rocking bar central block fixes company with bolt by the articulation hole with the feed screw nut
It connects, so that the active lifting mechanism is combined with the parallel rocker device.
Another aspect of the present invention is a kind of celestial body suspension systems comprising three groups of aforementioned passive combined celestial body vehicles
Suspension.
In some embodiments, it is passive combined outstanding that the car body two sides front position of the celestial body vehicle installs one group of master respectively
Frame；One group of master's passive combined suspension is installed on rear side of car body.
In some embodiments, one group of passive combined suspension of master that car body two sides front position is installed respectively, vehicle
It is parallel with parallel rocking bar swinging plane to take turns spoke plane, for longitudinal main passive combined suspension；One group of installation on rear side of the car body
Main passive combined suspension, wheel spoke plane is vertical with parallel rocking bar swinging plane, for laterally main passive combined suspension.
Compared with prior art, it is more to be integrated with folding, expansion, carrying, the adjustable, terrain self-adaptive of posture active etc. by the present invention
Item function, major advantage is that
1 present invention can open up the passive combined suspension of master of receipts and its system uses at 3 points and directly connect with cabinet, it is ensured that
The integrality of rover car body, opposite bridge-type, shaft type suspension frame structure, is more advantageous to the thermal control and layout of rover, stability
Height, landform are adaptable.
2 present invention can open up the passive combined suspension of master of receipts and its system using three groups of liftable mechanisms completes celestial body
The folding of vehicle, expansion function fold simple, the jack machinism and unfolding mechanism that relatively existing suspension system uses, expansion demand
Resource it is few.
3. the present invention can open up the passive combined suspension of master of receipts and its system has adaptive landform when celestial body vehicle is maked an inspection tour
Ability, self-locking by nut, suspension system is not necessarily to active control, easy to operate.
4 present invention can open up the passive combined suspension of master of receipts and its system passes through liter when celestial body vehicle is by way of rough ground
Descending mechanism active control can realize that vehicle body attitude is adjustable, improve the terrain adaptability and passability on celestial body vehicle celestial body surface, and control
System is simple.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is according to by the suspension system schematic layout pattern of inventive embodiments；
Fig. 2 is according to by the single suspension fork mechanism schematic diagram of inventive embodiments；
Fig. 3 is the elevating mechanism schematic diagram according to the embodiment of the present invention.
In order to facilitate the understanding of the present invention, the title of part each in the above figure is expressed as follows:
1 --- rocking bar central block
2 --- lead screw
3 --- lifting driving motor
4 --- driving gear set
5 --- lead screw upper bracket
6 --- articulation hole bolt C
7 --- upper connecting rod
8 --- articulation hole bolt B
9 --- articulation hole bolt A
10 --- upright bar
11 --- wheel
12 --- wheel connector
13 --- lower link
14 --- lead screw undersetting
15 --- articulation hole bolt D
16 --- guide rail
17 --- sliding block
18 --- threaded connection hole (feed screw nut-rocking bar central block)
19 --- feed screw nut
Specific embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments.
As shown in Figure 1, the passive combined celestial body suspension system of the master for opening up receipts of the invention, it can open up receipts using three groups
Active/passive suspension directly connect with cabinet, three groups of masters passive combined be suspended on celestial body vehicle constitutes suspension after reasonable installation
System, wherein every group of suspension fork mechanism Product Status is consistent.
Realize that suspension and cabinet are directly connected to by cabinet link block (lead screw upper bracket 5, screw rod undersetting 14), three groups
Suspension fork mechanism is distributed in car body two sides front-end and back-end face center, by three supporting point positions of reasonable distribution, to guarantee car body
Stationarity.It is moved up and down by the active lifting band motor car wheel of suspension system with respect to car body, realizes that the celestial body vehicle after landing is vehicle-mounted
Vehicle body attitude, height when platform folding and expanding and celestial body surface are maked an inspection tour is actively adjustable, passes through the self-locking realization suspension of suspension fork mechanism
Horizontal upper wheel and box location is relatively fixed after expansion.
As shown in Figure 2 and Figure 3, the master's passive combined celestial body suspension mechanism for opening up receipts of the invention is mainly by four big moulds
Block composition, respectively cabinet link block, elevating mechanism, double four-bar mechanisms, wheel link block.Wherein cabinet link block packet
Include lead screw upper bracket 5, screw rod undersetting 14；Elevating mechanism includes lead screw 2, lifting driving motor 3, driving gear set 4, leads
Rail 16, sliding block 17, threaded connection hole 18, feed screw nut 19；Double four-bar mechanisms include rocking bar central block 1, articulation hole bolt C6,
Upper connecting rod 7, articulation hole bolt B 8, articulation hole are with bolt A9, upright bar 10, wheel connector 12, lower link 13, articulation hole spiral shell
Bolt D15.
Fig. 2 is the single group suspension assembling schematic diagram that elevating mechanism, double four-bar mechanisms, wheel etc. are assembled together, wherein rising
Both descending mechanism and double four-bar mechanisms are connect by articulation hole.Supporting element of the rocking bar central block 1 as the double four-bar mechanisms of suspension, mentions
For supporting role and 3 revolutes, lower link 13 is freely rotated around articulation hole with bolt D15 with rocking bar central block 1, on
Connecting rod 7 can be freely rotated around articulation hole with bolt C6 with rocking bar central block 1.Wheel 11 passes through wheel connector 12 and upright bar 10
Connection, upright bar 10 can be freely rotated with upper connecting rod 7 around articulation hole bolt B 8, and upright bar 10 and lower link 13 can be around articulation holes
It is freely rotated with bolt A9.In this way, then forming one by the left side upright bar 10() --- left around articulation hole bolt B 8() --- above connect
Bar 7(is left) --- articulation hole is left with bolt C6() --- rocking bar central block 1 --- articulation hole bolt C6(is right) --- upper connecting rod 7
(right side) --- right with bolt B 8(around articulation hole) --- upright bar 10(is right) --- articulation hole bolt A9(is right) --- lower link
13 --- articulation hole bolt D15 --- rocking bar central block 1 --- articulation hole bolt A9(is left) --- upright bar 10(is left) composition
Special double four-bar mechanisms.Wherein lower link 13 only has one, and upper connecting rod 7 has left and right two, long reasonable with pitch-row by bar
It chooses, when parallel rocker device may be implemented around the rotation of rocking bar central block 1, upright bar 10 can be gone up and down near normal, it is ensured that wheel
11 ground pressures are vertically transmitted to link assembly, realize celestial body surface self-adaptive landform, and no matter guarantee in what feelings
Vertical car body level faces upward wheel connecting rod always under condition.
Fig. 3 is the supplement figure to elevating mechanism in the passive combined celestial body suspension of the master that can open up receipts.5 He of lead screw upper bracket
Lead screw undersetting 14 is fixed on celestial body vehicle car body, and the two plays branch respectively as 2 top and bottom support construction of lead screw
Support the effect of lead screw 2.The lead angle of 2 lead of feed screw nut 19 and lead screw uses self-locking design, is guaranteed only with this
It can be final that about 19 feed screw nut is driven to transport to drive lead screw 2 to rotate by lifting driving motor 3 by driving gear set 4
It is dynamic, and cannot inversely be driven, then suspension not only can be by the passive suspension function of self-locking realization of feed screw nut 19, but also may be implemented
Valence is actively risen by the active movement realization of feed screw nut 19.The bottom end of feed screw nut 19 is fixed with guide rail slide block 17, guide rail 16
It is fixed on celestial body vehicle car body.In this way, may be implemented to drive feed screw nut 19 to be vertically moved up or down by driving motor 3, and can be self-locking.
Threaded connection hole 18 on feed screw nut 19 connects as feed screw nut 19 with the machinery of double four-bar mechanism parts rocking bar central block 1
Mouthful.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits.
Claims (9)
1. a kind of passive combined celestial body suspension of master, which is characterized in that including active folding exhibition elevating mechanism with passively it is adaptive
Answer the parallel rocker device of landform；The active lifting mechanism is propped up under lead screw upper bracket, lead screw using feed screw nut kinematic pair
Seat, guide rail are fixed on celestial body vehicle car body, drive lead screw rotation by driving motor, and then drive feed screw nut or more
Movement, feed screw nut limit remaining five freedom degree outside feed screw nut vertical lift by fixing with guide rail slide block, realize
The active accommodation of vehicle body attitude during the folding and expanding function of celestial body vehicle, celestial body surface are maked an inspection tour, height；
The parallel rocker device, by one group of multi-connecting-rod mechanism similar to parallelogram be realize its two sides wheel it is close
Like vertical lift, ensure that wheel ground pressure is transmitted perpendicular to ground direction with this, the parallel rocker device passes through nut
It realizes and connects with active lifting mechanism, active lifting mechanism feed screw nut has self-locking function；The feed screw nut is self-locking
When, the passive adaptive lunar surface landform of parallel rocker device；The elevating mechanism both can be with relatively independent work with parallel rocker device
Make, realizes landform actively adjusting or passive adaptation, it can also be with the coordinated movement of various economic factors.
2. the master's passive combined celestial body suspension according to claim 1 for opening up receipts, in the multi-connecting-rod mechanism,
It is characterized in that, using upright bar, upper connecting rod, the special ditetragon mechanism of rocking bar central block, lower link composition, realizes celestial body vehicle
Adaptive design of land, and the upright bar is connected to wheel by wheel connector, and upright bar can be gone up and down near normal, with true
It protects the wheel ground pressure and is vertically transmitted to the link assembly, two wheel wheel loads are almost the same.
3. the passive combined celestial body suspension of master according to claim 2, which is characterized in that the parallel rocker device packet
Two upper connecting rods of the lower link and left and right are included, by bar length and pitch-row Rational choice, may be implemented described parallel
When rocker device is rotated around the rocking bar central block, the upright bar can be gone up and down near normal, to ensure the wheel earth contact pressure
Power is vertically transmitted to the link assembly.
4. the passive combined celestial body suspension of master according to claim 3, which is characterized in that the rocking bar central block conduct
The supporting element of the parallel rocker device provides 3 support revolutes, wherein the lower link and the rocking bar central block are around hinge
Drilling is freely rotated with bolt, and the upper connecting rod and the rocking bar central block are freely rotated around articulation hole with bolt, the upright bar
It is freely rotated around articulation hole with bolt with upper connecting rod, the upright bar is freely rotated around articulation hole with bolt with the lower link.
5. the passive combined celestial body suspension of master according to claim 4, which is characterized in that the rocking bar central block and institute
It states feed screw nut and is fixedly connected by the articulation hole with bolt, so that the active lifting mechanism and the parallel rocking bar
Mechanism Combination is together.
6. a kind of celestial body suspension system comprising three groups of passive combined celestial body suspensions as described in claim 1.
7. celestial body suspension system according to claim 6, which is characterized in that the car body two sides front end position of the celestial body vehicle
It sets and one group of passive combined suspension of master is installed respectively；One group of master's passive combined suspension is installed on rear side of car body, i.e. bikini supports,
Directly suspension fork mechanism is connect with car body, it is ensured that the integrality of body construction is conducive to load layout and car body thermal control.
8. celestial body suspension system according to claim 7, which is characterized in that car body two sides front position is pacified respectively
One group of passive combined suspension of master of dress, wheel spoke plane is parallel with parallel rocking bar swinging plane, for longitudinal main passive knot
Box-like suspension；One group of master's passive combined suspension is installed, wheel spoke plane swings flat with parallel rocking bar on rear side of the car body
Face is vertical, for laterally main passive combined suspension.
9. celestial body suspension system according to claim 8, which is characterized in that it is described to use supported at three point, it will directly hang
Frame mechanism is connect with car body；Main passive combined elevating mechanism drives lead screw rotation by driving motor, and then drives
Feed screw nut moves up and down, and feed screw nut limits remaining five outside feed screw nut vertical lift by fixing with guide rail slide block
Freely；Double four-bar mechanisms realize that the near normal of its two sides wheel is gone up and down by one group of special ditetragon link mechanism, with
This come ensure wheel ground pressure perpendicular to ground direction transmit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410311103.XA CN105314129B (en) | 2014-07-02 | 2014-07-02 | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410311103.XA CN105314129B (en) | 2014-07-02 | 2014-07-02 | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105314129A CN105314129A (en) | 2016-02-10 |
| CN105314129B true CN105314129B (en) | 2019-06-28 |
Family
ID=55242623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410311103.XA Active CN105314129B (en) | 2014-07-02 | 2014-07-02 | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105314129B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN109693811B (en) * | 2018-12-17 | 2022-08-02 | 西北工业大学 | Differential rear-mounted mars vehicle moving mechanism |
| CN109857138B (en) * | 2019-01-28 | 2021-10-01 | 北京卫星环境工程研究所 | Rapid installation and adjustment method based on spacecraft non-reference structure multi-coupling dimension chain mechanism |
| CN110432125A (en) * | 2019-08-31 | 2019-11-12 | 贵州大学 | A kind of small-scale agricultural machinery irrigation rig |
| CN111003655B (en) * | 2019-11-29 | 2023-12-22 | 苏州海通机器人系统有限公司 | Lifting type mobile robot system |
| CN112429274B (en) * | 2020-11-30 | 2022-08-23 | 哈尔滨工业大学 | Torsion spring type foldable suspension mechanism and planet detection vehicle |
| CN112607058B (en) * | 2020-11-30 | 2022-09-09 | 哈尔滨工业大学 | Collapsible rotation type suspension structure and planet detection car |
| CN113232891B (en) * | 2021-06-30 | 2022-09-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Foldable moving system of six-wheeled moon detection vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993912A (en) * | 1989-12-22 | 1991-02-19 | Chamberlain Mrc, Division Of Duchossois Industries, Inc. | Stair climbing robot |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN101407163A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Shuttle type rocker arm suspension mechanism of four-wheel probe vehicle |
| CN101486382A (en) * | 2008-01-18 | 2009-07-22 | 中国北方车辆研究所 | Expandable and actively adjusting balanced suspension system |
| CN201971168U (en) * | 2011-03-29 | 2011-09-14 | 华南理工大学 | Wheel-leg type crank-slider six-wheeled lunar rover |
| CN102963543A (en) * | 2012-11-29 | 2013-03-13 | 哈尔滨工业大学 | Six-wheel single drive folding extendable rocker arm type vehicle-mounted device |
| CN103318423A (en) * | 2013-06-07 | 2013-09-25 | 南京航空航天大学 | Manned lunar rover |
-
2014
- 2014-07-02 CN CN201410311103.XA patent/CN105314129B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993912A (en) * | 1989-12-22 | 1991-02-19 | Chamberlain Mrc, Division Of Duchossois Industries, Inc. | Stair climbing robot |
| CN101486382A (en) * | 2008-01-18 | 2009-07-22 | 中国北方车辆研究所 | Expandable and actively adjusting balanced suspension system |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN101407163A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Shuttle type rocker arm suspension mechanism of four-wheel probe vehicle |
| CN201971168U (en) * | 2011-03-29 | 2011-09-14 | 华南理工大学 | Wheel-leg type crank-slider six-wheeled lunar rover |
| CN102963543A (en) * | 2012-11-29 | 2013-03-13 | 哈尔滨工业大学 | Six-wheel single drive folding extendable rocker arm type vehicle-mounted device |
| CN103318423A (en) * | 2013-06-07 | 2013-09-25 | 南京航空航天大学 | Manned lunar rover |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105314129A (en) | 2016-02-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105314129B (en) | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system | |
| CN102202968B (en) | Landing gear mechanism for aircraft | |
| CN101486382B (en) | Expandable and actively adjusting balanced suspension system | |
| CN201456975U (en) | Vehicle axle hoisting mechanism | |
| CN101224698A (en) | Retracting-releasing device of amphibious vehicle wheel | |
| CN105073454A (en) | Wheel suspension for a motor vehicle | |
| CN106082047A (en) | A kind of high-lift operation car platform leveling device | |
| CN103317987A (en) | Off-road vehicle with wheels capable of being lifted and landed freely | |
| CN105667528B (en) | Tramcar | |
| CN109606501A (en) | Quadruped robot based on four-bar mechanism | |
| CN105292250A (en) | Reverse tricycle | |
| CN205149427U (en) | Winding and releasing device for wheels of amphibious vehicle | |
| CN208115146U (en) | The stable lifting amusement device of railcar cockpit | |
| CN207481594U (en) | A kind of vehicle with built-in stabilizers | |
| CN205930110U (en) | Balanced linkage | |
| CN102653221A (en) | Vibration damping system with steering automatic balance | |
| CN203293846U (en) | Amphibious vehicle suspension frame folding and unfolding mechanism | |
| CN207156864U (en) | A kind of unpowered bogie of combined sweeper | |
| WO2023077832A1 (en) | Semi-independent suspension system and crane | |
| CA2413595A1 (en) | Helicopter undercarriage | |
| CN205149426U (en) | Amphibious vehicle wheel winding and unwinding devices's jack | |
| CN102765449B (en) | Folding frame | |
| CN204688204U (en) | A kind of beat of reverse three-wheel vehicle and steering hardware and oppositely three-wheel vehicle | |
| CN203752898U (en) | Individual drive and individual steering mechanism for electric car | |
| CN204020453U (en) | A kind of manned vehicle rear suspension A arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |