CN106042975A - Vehicle control circuit of micro hub-style electric sweeper - Google Patents
Vehicle control circuit of micro hub-style electric sweeper Download PDFInfo
- Publication number
- CN106042975A CN106042975A CN201610406334.8A CN201610406334A CN106042975A CN 106042975 A CN106042975 A CN 106042975A CN 201610406334 A CN201610406334 A CN 201610406334A CN 106042975 A CN106042975 A CN 106042975A
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- vehicle control
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- master controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a vehicle control circuit of a micro hub-style electric sweeper. The vehicle control circuit of the micro hub-style electric sweeper manly comprises two parts: a vehicle control unit and a motor control unit. The vehicle control unit comprises a system main controller, a signal acquisition module and a sweep mechanism control switch; the motor control unit mainly comprises a motor control circuit, a power driving circuit, a three-phase bridge-type inverter circuit, a driving motor, an overcurrent protection circuit and a rotor position detecting circuit. The vehicle control circuit of the micro hub-style electric sweeper utilizes the electronic differential technology to realize steering control over the vehicle, the system main controller calculates the controlled variable of each hub motor according to the differential control algorithm through collecting relative parameters of the vehicle in running, and the rotatory speed which controls the left hub motor and the right hub motor is directly outputted, to realize stable operation and differential steering of the vehicle. The hub-style brushless direct current motor is adopted to serve as the driving motor, so that the vehicle control circuit of the micro hub-style electric sweeper is in low noise during operation and suitable for working at public places. The vehicle control circuit of the micro hub-style electric sweeper is efficient and practical, convenient to control, energy-saving and environment-friendly and has high anti-interference capacity.
Description
Technical field
The present invention relates to electric environment protecting vehicle control field, the most a micro-wheels hub electric cleaning car car load control
Circuit processed.
Background technology
Along with Urbanization in China is accelerated, a series of urban environment is inevitably brought to defend in its evolution
Raw problem.Nowadays human cost improves constantly, and uses manpower carry out urban environment maintenance and clean not only inefficiency, and
Increase government finance expenditure.At present, domestic environmental sanitation Machinery Market demand is the most vigorous, and market prospect is huge, and environmental sanitation machinery is not for
Should ask, especially disclosure satisfy that limited road, the amusement place such as venue, wait (machine) Room, market and large buildings clean demand
The development space of small-sized sanitation vehicle huge.
Amusement venue, the public places such as (machine) Room, market and large buildings of waiting have ground even, densely populated place, people
Member's features such as mobility is big, sanitation cart can frequent start-stop, turn to, inconvenience uses large-scale environmental sanitation mechanical, in view of the rubbish in these places
Rubbish is mainly the small size rubbish such as paper scrap, dust, and uses manpower efficiency extremely low, and tradition environmental sanitation electric motor car uses common
Motor, as the driving motor of vehicle, uses the common vehicle driving motor typically to use the mechanical transmission structure of complexity, leads
Cause environmental sanitation whole electric vehicle contour structures relatively big, be not suitable for being operated in amusement venue, wait (machine) Room, market and large buildings etc.
In the public place that the crowd is dense.
Summary of the invention
The present invention invents in view of above-mentioned practical situation, the invention aims to provide a kind of micro-wheels hub
Electric cleaning car full-vehicle control circuit, it is achieved control environmental sanitation electric motor car to limited road, amusement venue, wait (machine) Room, market
And the environmental sanitation cleaning of the public place such as large buildings.
Micro-wheels hub electric cleaning car full-vehicle control main circuit full-vehicle control to be included unit and motor control unit two
Part；Full-vehicle control unit includes that system master controller, signal acquisition module and cleaning agency control switch；Motor control unit
Mainly include circuit for controlling motor, power driving circuit, three-phase inverter bridge circuit, driving motor, current foldback circuit and turn
Sub-position detecting circuit.
The signal that wherein signal acquisition module collects mainly have gear, braking, avoidance detection, steering angle, accelerator pedal,
Motor speed, machine winding current etc..Wherein, driving switch comprises advance, retreats and three gears of neutral, and driving switch uses
Be interlocking three gang switches, the gear that moves forward and backward when pressing neutral upsprings simultaneously, moving forward and backward respectively of driving switch
PC6, PC7 pin of connection system master controller.The detection of brake switch, avoidance, steering angle signal, accelerator pedal signal, motor
PB2, PD6, PB6, PB5 pin of winding current connection system master controller respectively.Left and right machine winding current detection signal divides
PC4, PC5 pin of other connection system master controller.
Using differential control principle to realize turning to, the rotating speed of two driving wheels is detected by system master controller in real time；Electricity
Machine Rotating speed measring operation principle is: system master controller can calculate motor by time interval t catching twice interruption
Actual speed, the present invention uses digital multi-channel switch 74LS153 to carry out patrolling and examining external event and catches input PD4 and catch twice
The time interval of commutation.Left and right wheels tach signal connects 1C1 and the 1C0 pin of digital multi-channel switch, and system master controller passes through
Controlling the signal of PD5, PD7 two pins gating two paths, the channel signal chosen exports system master controller PD4 by 1Y
Port.
Driving in motor operation course can make the motor speed of service occur partially with system given speed because system is unstable
The situation of difference, the present invention uses rotating speed/current double closed-loop control principle to be adjusted the speed of service of motor.Overcurrent detects
The outfan of circuit is connected to about PC4 and the PC5 two-port composition of system master controller drive machine winding current detection electricity
Road.
System master controller mainly completes the collection of signal, analyzes, processes and the transmission of control command；System master controller
PB0 pin connect circuit for controlling motor CW_CCW pin control drive motor positive and inverse, PC1 pin connect motor control electricity
The PWM pin on road controls to drive the rotating speed of motor, and PD3 pin is by connecting 7404 reversers and water pump Control water pump
Work, PD0 and PD1 pin is by connecting 7404 reversers and sweeping coil motor Control and sweep the high low speed of dish.
Circuit for controlling motor uses TB6537 as the control chip of circuit for controlling motor, and it is that a kind of no-rotor position passes
The special integrated circuit of sensor brushless direct current motor.The OUT-UP of motor control chip, OUT_UN, OUT_VP, OUT_VN,
OUT_WP, OUT_WN port connect respectively the HIN1 of chip I RS2336 of power driving circuit, LIN1, HIN2, LIN2,
HIN3, LIN3 input.The OC end of circuit for controlling motor connects the outfan of current foldback circuit, and WAVE end connects rotor-position
The outfan of testing circuit.
The Main Function of chip I RS2336 selected in power driving circuit is to three-phase six tunnel from TB6537 chip
Bridge inverter main circuit PWM motor control signal carries out power amplification to realize six power switch to three-phase No. six bridge circuit
Pipe ground drives.HO1, HO2, HO3 and LO1 of power driving circuit, LO2, LO3 connect the grid of three-phase inverter bridge circuit respectively
And source electrode.
The three-phase six road bridge inverter main circuit pwm signal that circuit for controlling motor sends is put through the power of power driving circuit
Greatly, the turn-on sequence of power tube in three-phase inverter bridge circuit is controlled, it is achieved control to drive the purpose of motor speed.
The amplifier element selected in circuit overcurrent protection and peripheral circuit together form one group of operational amplifier, are used as
Over-current detection inputs.
Rotor position detection circuit utilizes 6 commutation position signallings of counter electromotive force method one cycle internal rotor of detection, turns
The outfan of sub-position detecting circuit connects the WAVE end of circuit for controlling motor TB6537.
It is an advantage of the invention that the course changing control using electronic differential technology to realize vehicle, system master controller is by gathering
Relevant parameter when vehicle runs, calculates the controlled quentity controlled variable of each wheel hub motor, directly exports control according to differential control algorithm
The rotating speed of left and right wheel hub motor runs and differential steering to realize vehicle stabilization.The hub-type brush-less Dc motor that the present invention uses
Machine is extremely low as driving motor operationally noise, is suitable for working in public places；Highly effective of the present invention, easy to control, joint
Can environmental protection, capacity of resisting disturbance strong.
Accompanying drawing explanation
Fig. 1 is the system structure schematic diagram of the present invention.
Fig. 2 is the control circuit schematic diagram of the present invention.
Detailed description of the invention
As shown in Figure 1-2, a micro-wheels of present invention hub electric cleaning car full-vehicle control main circuit car load to be included control
Unit processed and motor control unit two parts.Full-vehicle control unit includes system master controller, signal acquisition module and scavenging machine
Structure controls switch.Motor control unit mainly includes circuit for controlling motor, power driving circuit, three-phase inverter bridge circuit, drives
Galvanic electricity machine, current foldback circuit and rotor position detection circuit.
The signal that wherein signal acquisition module collects mainly have gear, braking, avoidance detection, steering angle, accelerator pedal,
Motor speed, machine winding current etc..Wherein, driving switch comprises advance, retreats and three gears of neutral, and driving switch uses
Be interlocking three gang switches, the gear that moves forward and backward when pressing neutral upsprings simultaneously, moving forward and backward respectively of driving switch
PC6, PC7 pin of connection system master controller.The detection of brake switch, avoidance, steering angle signal, accelerator pedal signal, motor
PB2, PD6, PB6, PB5 pin of winding current connection system master controller respectively.Left and right machine winding current detection signal divides
PC4, PC5 pin of other connection system master controller.
Brake signal is responsible for the brake system of vehicle and is controlled, the PB2 pipe of brake switch one end of vehicle and system master controller
Foot is connected, and connects pull-up resistor to VCC, and its other end ground connection, brake switch is normally for open-circuit condition, system master controller
Test side is high level；The brake switch Guan Bi when stepping on braking, one end of connection system master controller becomes low level, system master
Controller sends order control motor control unit reversion and realizes car braking, simultaneously drives and has drum to stop inside wheel, also can realize
Braking.
Sanitation cart avoidance detection be sanitation cart run into barrier cause drive motor rotation blockage time system master controller take
The mode of self-protection, the present invention uses travel switch to detect whether snow removing plate runs into barrier.Snow removing when vehicle front
Plate runs into barrier when can not move ahead, and the slidably push rod now back shrinkage of snow removing plate, the compression spring on push rod is received simultaneously
Contracting, and force travel switch to close, the system master controller PD6 pin detection low level that proximity switch connects, system master system
Device controls motor reversal reversing.When, after vehicle rollback avoiding obstacles, along with compression spring resets, snow removing plate push rod being resetted, OK
Journey switch contact separates the most therewith, and system master controller turns off rotating speed and the output of gear signal, waits that the next one controls vehicle
The order run.
Steering angle signal of the present invention detection sensor uses potentiometer, the different reflection vehicles of its output voltage size
Turn to requirement, the PB6 pin (10 ADC channel) of its signal output part connection system master controller, system master controller root
Control to drive motor speed to realize the differential control of two driving wheels according to the steering angle signal received and other duty parameters
System, completes turning to of environmental sanitation electric motor car then.
Automobile is at irregular road traveling or when turning to, and it is left and right takes turns the distance meeting rolled across within the same time
Having a certain distance, orthodox car is torque reasonably to be distributed to left and right two drivings by installing the drive axle on axletree
Wheel, it is achieved the mechanical differential of vehicle turns to.The design uses Electronic differential control principle to realize turning to of vehicle.Electronic differential
Control system controls to realize by the way of left and right driving motor speed turning to or traveling on rough ground of vehicle by software.
In sanitation cart running, two driving wheel speeds are detected by system master controller in real time.Drive motor speed detection work
Principle is: system master controller can calculate the actual speed of motor by time interval t catching twice interruption, this
Bright employing digital multi-channel switch 74LS153 carries out patrolling and examining external event seizure input PD4 and catches the time interval of twice commutation.
Left and right wheels tach signal connects 1C1 and the 1C0 pin of digital multi-channel switch, and system master controller draws by controlling PD5, PD7 two
The signal of foot gating two paths, the channel signal chosen exports system master controller PD4 port by 1Y.
Driving in motor operation course can make the driving motor speed of service go out with system given speed because system is unstable
The situation of existing deviation, the present invention uses rotating speed/current double closed-loop control principle to be adjusted the speed of service driving motor.Cross
The outfan of current detection circuit is connected to about PC4 and the PC5 two-port composition of system master controller drive motor winding electricity
Current detection circuit.
System master controller mainly completes the collection of signal, analyzes, processes and the transmission of control command.System master controller
PB0 pin connect circuit for controlling motor CW_CCW pin control drive motor positive and inverse, PC1 pin connect motor control electricity
The PWM pin on road controls to drive the rotating speed of motor, and PD3 pin is by connecting 7404 reversers and water pump Control water pump
Work, PD0 and PD1 pin is by connecting 7404 reversers and sweeping coil motor Control and sweep the high low speed of dish.
Circuit for controlling motor uses TB6537 as the control chip of circuit for controlling motor, and it is that a kind of no-rotor position passes
The special integrated circuit of sensor brushless direct current motor.The OUT-UP of circuit for controlling motor, OUT_UN, OUT_VP, OUT_VN,
OUT_WP, OUT_WN port connect respectively the HIN1 of chip I RS2336 of power driving circuit, LIN1, HIN2, LIN2,
HIN3, LIN3 input.The OC end of circuit for controlling motor connects the outfan of current foldback circuit, and WAVE end connects rotor-position
The outfan of testing circuit.
The Main Function of chip I RS2336 selected in power driving circuit is to three-phase six tunnel from TB6537 chip
Bridge inverter main circuit PWM motor control signal carries out power amplification to realize six power switch to three-phase No. six bridge circuit
Pipe ground drives.HO1, HO2, HO3 and LO1 of power driving circuit, LO2, LO3 connect the grid of three-phase inverter bridge circuit respectively
And source electrode.
The three-phase six road bridge inverter main circuit pwm signal that circuit for controlling motor sends is put through the power of power driving circuit
Greatly, the turn-on sequence of power tube in three-phase inverter bridge circuit is controlled, it is achieved control to drive the purpose of motor speed.
The amplifier element selected in circuit overcurrent protection and peripheral circuit together form one group of operational amplifier, are used as
Over-current detection inputs.
Rotor position detection circuit utilizes 6 commutation position signallings of counter electromotive force method one cycle internal rotor of detection, turns
The outfan of sub-position detecting circuit connects the WAVE end of circuit for controlling motor TB6537.
The above is the optimal suitable examples of the present invention, but the present invention is not limited to examples detailed above, any in the present invention
The technical scope disclosed or equal design, change etc. are all in protection scope of the present invention.
Claims (9)
- The most a micro-wheels hub electric cleaning car full-vehicle control circuit, it is characterised in that: mainly include full-vehicle control unit and Motor control unit two parts；Full-vehicle control unit includes that system master controller, signal acquisition module and cleaning agency control to open Close；Motor control unit mainly includes circuit for controlling motor, power driving circuit, three-phase inverter bridge circuit, driving motor, mistake Stream protection circuit and rotor position detection circuit.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: Qi Zhongxin Number signal that acquisition module collects mainly has gear, braking, avoidance detection, steering angle, accelerator pedal, motor speed, motor Winding current；The driving switch of signal acquisition module comprises advance, retreats and three gears of neutral, and driving switch uses mutually Locking three gang switches, the gear that moves forward and backward when pressing neutral is upspring simultaneously, and moving forward and backward of driving switch connects system respectively PC6, PC7 pin of system master controller；The detection of brake switch, avoidance, steering angle signal, accelerator pedal signal, motor winding electricity PB2, PD6, PB6, PB5 pin of stream connection system master controller respectively；Left and right machine winding current detection signal connects respectively PC4, PC5 pin of system master controller.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: it is poor to use Speed control principle realizes turning to, and the rotating speed of two driving wheels is detected by system master controller in real time；System master controller passes through Time interval t catching twice interruption can calculate the actual speed of motor, and the present invention uses digital multi-channel to switch 74LS153 carries out patrolling and examining external event seizure input PD4 and catches the time interval of twice commutation；Left and right wheels tach signal connects 1C1 and the 1C0 pin of digital multi-channel switch, system master controller is by controlling the letter of PD5, PD7 two pins gating two paths Number, the channel signal chosen exports system master controller PD4 port by 1Y.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: system master Controller mainly completes the collection of signal, analyzes, processes and the transmission of control command；The PB0 pin of system master controller connects The CW_CCW pin of circuit for controlling motor controls to drive motor positive and inverse, and PC1 pin connects the PWM pin control of circuit for controlling motor System drives the rotating speed of motor, and PD3 pin is by connecting 7404 reversers and the work of water pump Control water pump, PD0 and PD1 Pin is by connecting 7404 reversers and sweeping coil motor Control and sweep the high low speed of dish.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: motor control OUT-UP, OUT_UN, OUT_VP, OUT_VN, OUT_WP, OUT_WN port of circuit processed connects power driving circuit respectively HIN1, LIN1, HIN2, LIN2, HIN3, LIN3 input；The OC end of circuit for controlling motor connects the output of current foldback circuit End, WAVE end connects the outfan of rotor position detection circuit.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: power drives The Main Function on galvanic electricity road is to carry out the three-phase six road bridge inverter main circuit PWM motor control signal from circuit for controlling motor Power amplification to drive with realizing six power switch pipes to three-phase No. six bridge circuit；The HO1 of power driving circuit, HO2, HO3 and LO1, LO2, LO3 connect grid and the source electrode of three-phase inverter bridge circuit respectively.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: motor control The three-phase six road bridge inverter main circuit pwm signal that circuit processed sends, through the power amplification of power driving circuit, controls three-phase bridge The turn-on sequence of power tube in formula inverter circuit, it is achieved control to drive the purpose of motor speed.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: cross stream and protect The amplifier element selected in protection circuit and peripheral circuit together form one group of operational amplifier, input as over-current detection.
- A micro-wheels hub electric cleaning car full-vehicle control circuit the most as claimed in claim 1, it is characterised in that: rotor position The outfan putting testing circuit connects the WAVE end of circuit for controlling motor, utilizes counter electromotive force method one cycle internal rotor of detection 6 commutation position signallings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406334.8A CN106042975A (en) | 2016-06-12 | 2016-06-12 | Vehicle control circuit of micro hub-style electric sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406334.8A CN106042975A (en) | 2016-06-12 | 2016-06-12 | Vehicle control circuit of micro hub-style electric sweeper |
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| Publication Number | Publication Date |
|---|---|
| CN106042975A true CN106042975A (en) | 2016-10-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610406334.8A Pending CN106042975A (en) | 2016-06-12 | 2016-06-12 | Vehicle control circuit of micro hub-style electric sweeper |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338008A (en) * | 2018-01-29 | 2018-07-31 | 宁波大叶园林设备股份有限公司 | Has the hay mower of brushless motor multirow star rear axle driving retarder |
| CN108370708A (en) * | 2018-02-01 | 2018-08-07 | 宁波大叶园林设备股份有限公司 | A kind of hay mower is kept away automatically with sensing intelligent turns a ultra-thin hay knife |
| CN108386499A (en) * | 2018-01-29 | 2018-08-10 | 宁波大叶园林设备股份有限公司 | Gardens intelligent grass-removing four planetary gear rear-guard moving gear box of three-level |
| CN108386498A (en) * | 2018-01-29 | 2018-08-10 | 宁波大叶园林设备股份有限公司 | Gardens machine drives retarder with electronic crossed helical gears without planet rear axle |
| CN108377713A (en) * | 2018-01-29 | 2018-08-10 | 宁波大叶园林设备股份有限公司 | Electricity consumption dynamic cycloid pinwheel Gear Planet Transmission rear axle drives the garden equipment of retarder |
| CN108412961A (en) * | 2018-01-29 | 2018-08-17 | 宁波大叶园林设备股份有限公司 | The garden equipment of retarder is driven with electronic harmonic gear flexbile gear driven rear axle |
| CN108401688A (en) * | 2018-01-29 | 2018-08-17 | 宁波大叶园林设备股份有限公司 | Has the grass trimmer that electronic biased gear drives retarder without planet rear axle |
| CN108432443A (en) * | 2018-01-29 | 2018-08-24 | 宁波大叶园林设备股份有限公司 | The gardens grass trimmer of retarder is driven without double half rear axles of planet with brushless motor |
| CN108450121A (en) * | 2018-01-29 | 2018-08-28 | 宁波大叶园林设备股份有限公司 | The gardens machine of retarder is driven without planet rear axle with electronic fan gear |
| CN108476745A (en) * | 2018-01-29 | 2018-09-04 | 宁波大叶园林设备股份有限公司 | The gardens machine of retarder is driven with the air-cooled no planet rear axle of electric gear inner shaft |
| CN108684298A (en) * | 2018-05-10 | 2018-10-23 | 宁波领越智能设备有限公司 | Hay mower |
| CN108708943A (en) * | 2018-06-19 | 2018-10-26 | 广德迪发机械有限公司 | Intelligent grass-removing multirow star rear axle drives retarder |
| CN108738644A (en) * | 2018-05-10 | 2018-11-06 | 宁波领越智能设备有限公司 | A kind of grass trimmer |
| CN108811683A (en) * | 2018-05-10 | 2018-11-16 | 宁波大叶园林设备股份有限公司 | The grass trimmer of tool protection circuit |
| CN108811674A (en) * | 2018-05-10 | 2018-11-16 | 宁波领越智能设备有限公司 | Riding mower with protective device |
| CN108848938A (en) * | 2018-05-10 | 2018-11-23 | 宁波领越智能设备有限公司 | Riding mower |
| CN109379979A (en) * | 2018-05-10 | 2019-02-26 | 宁波领越智能设备有限公司 | Lithium battery power packet and application |
| CN110221548A (en) * | 2018-03-01 | 2019-09-10 | 弘允新能源（上海）有限公司 | A kind of general entire car controller of kart |
| CN111870716A (en) * | 2020-08-06 | 2020-11-03 | 深圳市井智高科机器人有限公司 | Short-wave ultraviolet sterilization intelligent mobile equipment and control method |
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