CN106080764A - The four motor-driven logistic cars of wheel hub - Google Patents
The four motor-driven logistic cars of wheel hub Download PDFInfo
- Publication number
- CN106080764A CN106080764A CN201610406538.1A CN201610406538A CN106080764A CN 106080764 A CN106080764 A CN 106080764A CN 201610406538 A CN201610406538 A CN 201610406538A CN 106080764 A CN106080764 A CN 106080764A
- Authority
- CN
- China
- Prior art keywords
- steering
- motor
- wheel
- wheel hub
- connecting rod
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
Abstract
A kind of four motor-driven logistic cars of wheel hub, the left and right sides, upper end that in shock mitigation system, front damping often organizes leaf spring is connected with longitudinal beam, and often group middle part, leaf spring lower end is connected with propons；Rear damping is often organized and is connected with longitudinal beam bearing pin on the left of the upper end of leaf spring, and right side is connected with rocker bracket bearing pin, and rocker bracket is connected with longitudinal beam bearing pin again, and often group middle part, leaf spring lower end is fixing with back axle is connected；There is fixed cover at propons two ends, and together with the axle movable set that fixed cover is affixed with turning rack upper end, the two bearing fit connects；Wheel is arranged on below turning rack, and wheel is provided with wheel hub motor, and hub motor control device is arranged on vehicle frame；Steering wheel is connected with steering controller by steering spindle；It is provided with minicar in steering controller and turns to quadric chain；Rotary tray motor is fixedly connected on vehicle frame, and rotary tray motor output shaft axle affixed with turning rack upper end is connected by shaft coupling, and rotary tray motor is respectively arranged with angle-position encoder.
Description
Technical field
The present invention relates to a kind of by four In-wheel motor drivings, lateral direction of car can be realized and travel, longitudinal driving, pivot stud with
And vehicle is by the pure electronic logistic car of arbitrarily angled turning driving.
Background technology
Along with interchangeable manufacturing and the development of automatization, the carrying of mechanization goods is the most widely available, and big and small function is each
Different freight logistics car has shuttled back and forth at urban road or factory's carrier, facilitates labor operation and the life of people.But mesh
Front existing logistics carrying, vehicle is often limited to the motion in forward-reverse direction, and when the vehicle is turning, needs driver
Steering wheel rotation, repeatedly adjusts wheel and could realize turning smoothly to suitable angle, add the complexity of turning operation,
Especially at narrow space, it is less useful for the smooth turning of vehicle.
Summary of the invention
It is an object of the invention to design the pure electronic logistic car that a each wheel can rotate the most automatically, it is achieved
The horizontal stroke of vehicle, longitudinal driving, pivot stud and by turning driving at any angle, solve to cause due to reasons such as narrow spaces
Vehicle travel operation difficulty problem.
The technical scheme is that for achieving the above object
A kind of four motor-driven logistic cars of wheel hub, mainly include vehicle frame, electrical source of power, drive system, brakes and damping
System, vehicle frame is mainly formed by longitudinal beam, propons, rear-axle welding, and vehicle frame is provided with bicycle shed, report control platform, scalable seat
Chair, electrical source of power, turning rack and wheel, also include steering control system；
Described shock mitigation system includes front damping and rear damping, and forward and backward damping all includes two groups of leaf springs；Described
Front damping often organize the left and right sides, upper end of leaf spring and be connected with longitudinal beam bearing pin, often group middle part, leaf spring lower end with
Propons rotating shaft connects；Described rear damping is often organized and is connected with longitudinal beam bearing pin on the left of the upper end of leaf spring, right side with
Rocker bracket bearing pin connects, and rocker bracket is connected with longitudinal beam bearing pin again, often group middle part, leaf spring lower end and back axle
Fixing connection；The two ends of described propons have been respectively and fixedly connected with fixed cover, the axle movable sleeve that fixed cover is affixed with turning rack upper end
Being fitted together, the two bearing fit connects；Described wheel is arranged on below turning rack, and wheel is provided with wheel hub motor,
Hub motor control device is arranged on vehicle frame；
Described steering control system includes that steering wheel, steering spindle, steering controller, rotary tray motor, angle-position encoder, angle pass
Sensor；Steering wheel is connected with steering controller by steering spindle；It is provided with minicar in described steering controller and turns to four
Linkage；Described rotary tray motor is fixedly connected on vehicle frame, and rotary tray motor output shaft leads to the affixed axle in turning rack upper end
Cross shaft coupling to connect, rotary tray motor is respectively arranged with angle-position encoder.
Minicar turns to quadric chain to be made up of frame, connecting rod a, connecting rod b, connecting rod c, and wherein frame is course changing control
The upper wall of device, the centre position of connecting rod c is provided with pin shaft hole, and steering controller is internally provided with for gathering connecting rod a's and connecting rod b
The angular transducer of movement angle.
Steering spindle upper end is fixing with steering wheel to be connected, and lower end is through the threaded steering spindle spiral shell of upper wall of steering controller
Mother, steering wheel rotation drives steering spindle nut to rotate in steering controller.
Fixing connection one vertical connecting rod on steering spindle nut, vertical connecting rod turns to connecting rod c in quadric chain along minicar
Middle pin shaft hole does the most upper and lower movement, the rotational band actuating miniature motor turning parallel motion of steering wheel.
The two ends symmetry of steering spindle nut is fixing connects drag link, and drag link two ends are provided with hook hole.
The spring reverse motion realizing steering wheel angle self-return function it is provided with in steering controller.
One end of back-moving spring hangs in the hook hole at drag link two ends, and other end symmetry is fixed on the upper of steering controller
Wall.
The left and right stopping means of setting direction dish corner in steering controller, switchs including left and right extreme position, and left,
Contact, limit on the right-right-hand limit position；When steering wheel forwards left and right extreme position to, back-moving spring extrudes left and right extreme position contact, makes
Left and right extreme position switch conduction, sends steering controller to left and right limit position signal, and then controls corresponding rotating disk
The rotation of motor.
Logistic car drive system is four In-wheel motor drivings, and four wheel hub motor correspondences are arranged in each wheel, four wheel hub electricity
Machine is controlled by same accelerator pedal.
Compared with prior art, the present invention combines the kinematic principle of motor turning, arranges minicar and turns to double leval jib
Mechanism, utilization orientation dish, angle-position encoder, steering controller etc., control the angle of four wheels, make vehicle make in narrow space
Under industry environment, it is achieved that horizontal, longitudinal driving, pivot stud and arbitrarily angled turning driving, reduce turn inside diameter operation
Complexity, improves curved efficiency, eliminates traditional mechanical automobile steering structure, saves space, chassis.
Accompanying drawing explanation
Fig. 1 is the front view of the present invention.
Fig. 2 is the vehicle frame of the present invention, damping and steering structure top view.
Fig. 3 is the vehicle frame of the present invention, damping and steering structure side view.
Fig. 4 is the structural representation of course changing control mechanism.
In figure: 1-wheel, 2-rotating shaft, 3-brake pedal, 4-accelerator pedal, 5-steering controller, 6-steering spindle, 7-manipulates
Platform, 8-steering wheel, 9-bicycle shed, 10-seat, 11-longitudinal beam, 12-electrical source of power, 13-angle-position encoder, 14-rotating disk electricity
Machine, 15-rocker bracket, 16-leaf spring, 17-propons, 18-turning rack, 19-back axle, 20-rotating shaft, 21-connecting rod a, 22-connecting rod b,
23-limit on the left position switch, contact, 24-limit on the left position, 25-back-moving spring, 26-drag link, contact, 27-limit on the right-right-hand limit position,
28-limit on the right-right-hand limit position switch, 29-connecting rod c, 30-vertical connecting rod, 31-steering spindle nut, 32-controller upper wall, 33-angle sensor
Device.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
Seeing accompanying drawing 1-4, this logistic car disclosed in this invention is four In-wheel motor drivings, can realize lateral direction of car row
Sailing, longitudinal driving, pivot stud and vehicle are by the pure electronic logistic car of arbitrarily angled turning driving, and this logistic car mainly wraps
Include: the part composition such as vehicle frame, electrical source of power, drive system, brakes, shock mitigation system, steering control system, in this logistic car
Steering control system utilize the kinematic principle of motor turning, minicar is set and turns to quadric chain, utilization orientation dish,
Angle-position encoder, steering controller, automatically control the angle of each steered wheel, it is achieved that the horizontal stroke of vehicle, longitudinal driving, pirouette
To and turning driving at any angle.
Vehicle frame is mainly welded by longitudinal beam 11, propons 17, back axle 19, and vehicle frame is provided with bicycle shed 9, report control platform
7, the structure such as adjustable seat 10, electrical source of power 12, turning rack 18 and wheel 1, as shown in Figure 1, 2, 3.
This logistic car drive system disclosed in this invention is four In-wheel motor drivings, and four wheel hub motor correspondences are arranged on
In each wheel, and four wheel hub motors are controlled by same accelerator pedal 4.
The shock mitigation system of this logistic car includes: front damping and rear damping.Front damping and rear damping machine
Structure is formed by two groups of leaf springs 16, and its arranged structure is as shown in Figure 1, 2.Front damping often organizes about the upper end of leaf spring two
Side is connected with longitudinal beam 11 bearing pin 20, and often group middle part, leaf spring lower end is connected with propons 17 rotating shaft 2, and composition has flat
The front damping of weighing apparatus vehicle body function.Rear damping is often organized and is connected with bearing pin with longitudinal beam 11 on the left of the upper end of leaf spring, right
Side is connected with bearing pin with rocker bracket 15, and rocker bracket 15 is connected with longitudinal beam 11 bearing pin again, often group leaf spring lower end pars intermedia
Position is fixing with back axle 19 to be connected, and forms damping after rocking bar.Above-mentioned front damping and rear damping respectively with propons, after
Bridge, the attachment structure mode of longitudinal beam, eliminate vehicle when uneven road surface travels or bank met by wheel, the different torsions of generation
Square.
The two ends of this logistic car propons 17 have been respectively and fixedly connected with fixed cover, the axle that fixed cover is affixed with turning rack 18 upper end
Together, the two bearing fit connects movable set so that turning rack is freely rotatable around vertical direction.Wheel 1 is arranged on and turns
Below support, wheel being provided with wheel hub motor 14, hub motor control device is arranged on vehicle frame.
Steering control system is mainly by steering wheel 8, steering spindle 6, steering controller 5, rotary tray motor 14, angle-position encoder
13, the part such as angular transducer 33 composition.Steering wheel 8 is connected with steering controller 5, as shown in Figure 1 by steering spindle 6.Turn to
It is provided with minicar in controller and turns to quadric chain, as shown in Figure 4, including: frame, connecting rod a, connecting rod b, connecting rod c group
Becoming, wherein frame is the upper wall of steering controller, and the centre position of connecting rod c is provided with pin shaft hole, arranges angle inside steering controller
Degree sensor can gather steering wheel, connecting rod a, the movement angle of connecting rod b.The rotational band actuating miniature motor turning four of steering wheel is even
Linkage moves, and steering wheel angle signal and connecting rod a, connecting rod b that in steering controller, calculation process angular transducer gathers transport
Dynamic angle signal, and the position signalling of the rotary tray motor axle of angle-position encoder collection, and then control the fortune of each rotary tray motor
Dynamic.
The rotating method of steering wheel rotational band actuating miniature motor turning quadric chain: steering spindle 6 upper end is solid with steering wheel 8
Fixed connection, lower end drives steering spindle spiral shell through the threaded steering spindle nut 31 of upper wall of steering controller, steering wheel rotation
Female rotation in steering controller.Fixing connection one vertical connecting rod 30 on steering spindle nut, vertical connecting rod can turn to along minicar
In quadric chain, the pin shaft hole in the middle of connecting rod c does the most upper and lower movement, the rotational band actuating miniature motor turning four of steering wheel
Connecting rod mechanism movement.
Rotary tray motor 14 is fixedly connected on vehicle frame, and rotary tray motor output shaft and the affixed axle in turning rack 18 upper end are by connection
Axial organ connects so that the rotation drive turning rack of rotary tray motor is around the rotation of vertical direction, and then the rotation of band motor car wheel.?
Rotary tray motor is provided with angle-position encoder 13, gathers the corner situation of rotary tray motor.
The present invention is provided with the spring reverse motion realizing steering wheel angle self-return function, its structure as shown in Figure 4,
The fixing connection drag link 26 at the two ends of spindle nut, drag link two ends are provided with hook hole, and one end of back-moving spring 25 hangs over
In the hook hole at drag link two ends, other end symmetry is fixed on steering controller upper wall.
The present invention also sets up steering wheel angle left and right stopping means, mainly by limit on the left position switch 23, and limit on the left position
Contact 24, limit on the right-right-hand limit position switch 28, contact, limit on the right-right-hand limit position 27 part such as grade forms, as shown in Figure 4.When steering wheel forwards the limit to
During position, back-moving spring 25 extrudes contact, limit on the left position 24 or contact, limit on the right-right-hand limit position 27, makes limit on the left position switch 23, or
Limit on the right-right-hand limit position switch 28 turns on, and Derivative limit on the left or on the right position signalling is sent to steering controller, and then controls corresponding rotating disk electricity
The rotation of machine.
Logistic car of the present invention is provided with report control platform 7, is easy on the right side of the steering wheel of operator in being arranged on bicycle shed, main
Including: vehicle power supply activate switch, travel control crank longitudinally forward or backward, handle hands laterally to the left or to right travel
Handle, turning driving switchs, parking button.
Under each mode of operation of this logistic car all by steering wheel, angular transducer, angular encoder, steering controller,
Rotary tray motors etc. control the angle of each wheel.
1), when logistic car of the present invention moves forward, it is 0 degree that steering controller controls trailing wheel corner, front-wheel steer；Go backward
When sailing, it is 0 degree that steering controller controls front wheel angle, rear-axle steering.
2), during logistic car cross running of the present invention, steering controller controls four wheel steering angles and all with vehicle frame is 90 degree.
Claims (9)
1. the four motor-driven logistic cars of wheel hub, mainly includes vehicle frame, electrical source of power, drive system, brakes and subtracts
Shake system, vehicle frame is mainly formed by longitudinal beam, propons, rear-axle welding, and vehicle frame is provided with bicycle shed, report control platform, scalable
Seat, electrical source of power, turning rack and wheel, it is characterised in that: also include steering control system；
Described shock mitigation system includes front damping and rear damping, and forward and backward damping all includes two groups of leaf springs；Described
Front damping often organize the left and right sides, upper end of leaf spring and be connected with longitudinal beam bearing pin, often group middle part, leaf spring lower end with
Propons rotating shaft connects；Described rear damping is often organized and is connected with longitudinal beam bearing pin on the left of the upper end of leaf spring, right side with
Rocker bracket bearing pin connects, and rocker bracket is connected with longitudinal beam bearing pin again, often group middle part, leaf spring lower end and back axle
Fixing connection；The two ends of described propons have been respectively and fixedly connected with fixed cover, the axle movable sleeve that fixed cover is affixed with turning rack upper end
Being fitted together, the two bearing fit connects；Described wheel is arranged on below turning rack, and wheel is provided with wheel hub motor,
Hub motor control device is arranged on vehicle frame；
Described steering control system includes that steering wheel, steering spindle, steering controller, rotary tray motor, angle-position encoder, angle pass
Sensor；Steering wheel is connected with steering controller by steering spindle；It is provided with minicar in described steering controller and turns to four
Linkage；Described rotary tray motor is fixedly connected on vehicle frame, and rotary tray motor output shaft leads to the affixed axle in turning rack upper end
Cross shaft coupling to connect, rotary tray motor is respectively arranged with angle-position encoder.
The four motor-driven logistic cars of wheel hub the most according to claim 1, it is characterised in that described minicar turns to
Quadric chain is made up of frame, connecting rod a, connecting rod b, connecting rod c, and wherein frame is the upper wall of steering controller, the centre of connecting rod c
Position is provided with pin shaft hole, and steering controller is internally provided with the angle sensor of the movement angle for gathering connecting rod a and connecting rod b
Device.
The four motor-driven logistic cars of wheel hub the most according to claim 1, it is characterised in that steering spindle upper end and steering wheel
Fixing connection, lower end drives steering spindle spiral shell through the threaded steering spindle nut of upper wall of steering controller, steering wheel rotation
Female rotation in steering controller.
The four motor-driven logistic cars of wheel hub the most according to claim 3, it is characterised in that on described steering spindle nut
Fixing connection one vertical connecting rod, vertical connecting rod turns to pin shaft hole middle for connecting rod c in quadric chain to do on vertically along minicar
Under movement, the rotational band actuating miniature motor turning parallel motion of steering wheel.
The four motor-driven logistic cars of wheel hub the most according to claim 3, it is characterised in that described steering spindle nut
Two ends symmetry is fixing connects drag link, and drag link two ends are provided with hook hole.
The four motor-driven logistic cars of wheel hub the most according to claim 3, it is characterised in that be provided with in steering controller
Realize the spring reverse motion of steering wheel angle self-return function.
The four motor-driven logistic cars of wheel hub the most according to claim 6, it is characterised in that one end of back-moving spring hangs over
In the hook hole at drag link two ends, other end symmetry is fixed on the upper wall of steering controller.
The four motor-driven logistic cars of wheel hub the most according to claim 1, it is characterised in that the side of setting in steering controller
To the left and right stopping means of dish corner, switch including left and right extreme position, and left and right extreme position contact；When steering wheel turns
During to left and right extreme position, back-moving spring extrude left and right extreme position contact, make left and right extreme position switch conduction, a left side,
Limit on the right-right-hand limit position signalling sends steering controller to, and then controls the rotation of corresponding rotary tray motor.
The four motor-driven logistic cars of wheel hub the most according to claim 1, it is characterised in that described logistic car drivetrain
System is four In-wheel motor drivings, and four wheel hub motor correspondences are arranged in each wheel, and four wheel hub motors are controlled by same accelerator pedal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406538.1A CN106080764B (en) | 2016-06-12 | 2016-06-12 | The motor-driven logistic car of four wheel hubs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406538.1A CN106080764B (en) | 2016-06-12 | 2016-06-12 | The motor-driven logistic car of four wheel hubs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106080764A true CN106080764A (en) | 2016-11-09 |
| CN106080764B CN106080764B (en) | 2018-06-29 |
Family
ID=57228562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610406538.1A Expired - Fee Related CN106080764B (en) | 2016-06-12 | 2016-06-12 | The motor-driven logistic car of four wheel hubs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106080764B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891716A (en) * | 2017-04-17 | 2017-06-27 | 北京农信通科技有限责任公司 | A kind of wheel type mobile structure and the wheeled robot comprising it |
| CN106907109A (en) * | 2017-04-27 | 2017-06-30 | 陈婷婷 | A kind of automatic rock drill |
| CN108819828A (en) * | 2018-08-14 | 2018-11-16 | 河北工程大学 | Transport vehicle is launched in shared bicycle recycling |
| CN109131541A (en) * | 2018-09-05 | 2019-01-04 | 天津同捷汽车设计有限公司 | A kind of rear-wheel active steering apparatus and vehicle |
| CN113895246A (en) * | 2020-06-22 | 2022-01-07 | 河北农业大学 | Special intelligent logistics vehicle for workshop |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202005016963U1 (en) * | 2005-10-28 | 2006-02-23 | Sunpex Technology Co., Ltd. | Electrical wheel chair with clutch control device, which has side frame, a pair of electrical motors as power unit, control unit and a pair of swiveling units |
| CN201553197U (en) * | 2008-01-19 | 2010-08-18 | 白风山 | Vehicle stabilization system with multi-directional control function |
| CN103777637A (en) * | 2014-02-13 | 2014-05-07 | 苏州工业园区艾吉威自动化设备有限公司 | Non-baffle-board laser AGV and navigation method thereof |
| CN104108421A (en) * | 2014-07-22 | 2014-10-22 | 邹帆 | Suspension steering device for hub direct-driving electric vehicle |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
-
2016
- 2016-06-12 CN CN201610406538.1A patent/CN106080764B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202005016963U1 (en) * | 2005-10-28 | 2006-02-23 | Sunpex Technology Co., Ltd. | Electrical wheel chair with clutch control device, which has side frame, a pair of electrical motors as power unit, control unit and a pair of swiveling units |
| CN201553197U (en) * | 2008-01-19 | 2010-08-18 | 白风山 | Vehicle stabilization system with multi-directional control function |
| CN103777637A (en) * | 2014-02-13 | 2014-05-07 | 苏州工业园区艾吉威自动化设备有限公司 | Non-baffle-board laser AGV and navigation method thereof |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| CN104108421A (en) * | 2014-07-22 | 2014-10-22 | 邹帆 | Suspension steering device for hub direct-driving electric vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891716A (en) * | 2017-04-17 | 2017-06-27 | 北京农信通科技有限责任公司 | A kind of wheel type mobile structure and the wheeled robot comprising it |
| CN106907109A (en) * | 2017-04-27 | 2017-06-30 | 陈婷婷 | A kind of automatic rock drill |
| CN108819828A (en) * | 2018-08-14 | 2018-11-16 | 河北工程大学 | Transport vehicle is launched in shared bicycle recycling |
| CN108819828B (en) * | 2018-08-14 | 2023-05-23 | 河北工程大学 | Shared bicycle recycling and throwing transport vehicle |
| CN109131541A (en) * | 2018-09-05 | 2019-01-04 | 天津同捷汽车设计有限公司 | A kind of rear-wheel active steering apparatus and vehicle |
| CN113895246A (en) * | 2020-06-22 | 2022-01-07 | 河北农业大学 | Special intelligent logistics vehicle for workshop |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106080764B (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106080764A (en) | The four motor-driven logistic cars of wheel hub | |
| JP4541201B2 (en) | Car | |
| JP6945735B2 (en) | Wheel module for automobiles | |
| JP4966273B2 (en) | Rear suspension device | |
| CN108116577B (en) | Three-wheeled electric vehicle capable of tilting sideways | |
| WO2014101756A1 (en) | Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof | |
| CN202728450U (en) | Light tricycle with two front wheels | |
| CN103124668A (en) | Vehicle having variable track | |
| CN106427555B (en) | It is a kind of for electric automobile wheel all-directional turn to conversion equipment and can comprehensive steering electric vehicle | |
| CN105421847A (en) | Tire clamping type car carrier | |
| CN107215386A (en) | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to | |
| CN207697407U (en) | Novel combined car | |
| CN106394761A (en) | Four-wheel balance electric vehicle body | |
| CN1990328A (en) | Wheel allocation structure of four-wheel automobile | |
| JP2017522083A5 (en) | ||
| CN201511769U (en) | Double swing-arm independent suspension structure | |
| CN203268122U (en) | Automobile four-wheel steering system | |
| JP4624151B2 (en) | Car steering system | |
| CN201980286U (en) | Electric vehicle control device capable of transversely turning for 90 DEG leftwards and rightwards | |
| CN100554077C (en) | The operating control of small-sized electric vehicle | |
| CN111703529A (en) | Positive tricycle with steering wheel controlling rear wheel steering and synchronous controlling vehicle body side-tipping | |
| JP2012171530A (en) | Electric vehicle | |
| CN101284552B (en) | Dynamic balancing single-wheel remotion robot body | |
| CN105251214B (en) | A kind of carbon-free trolley | |
| CN204774604U (en) | Arm - no. 2 connecting rod suspension hub reduction power drive system is draged in integration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 Termination date: 20190612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |