CN106828440A - A kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven - Google Patents
A kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven Download PDFInfo
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- CN106828440A CN106828440A CN201710133529.4A CN201710133529A CN106828440A CN 106828440 A CN106828440 A CN 106828440A CN 201710133529 A CN201710133529 A CN 201710133529A CN 106828440 A CN106828440 A CN 106828440A
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- wheel
- mine car
- servicing unit
- motor
- unmanned mine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
- B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
- B60S9/215—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel driven by an auxiliary motor
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- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The present invention devises a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven, it is intended to improves the security after unmanned tramcar wheel is blown out and ensures the operating efficiency of mine car.The servicing unit is made up of drive mechanism, transmission mechanism, attachment structure and auxiliary wheel.Drive mechanism uses stand-by motor, used as the power source of safety aid；Transmission mechanism uses leverage, including many drive link cooperations；Attachment structure uses articulated structure form, the connection between fixation and each mechanism for safety aid；Auxiliary wheel is equipped with hub driven motor, installs on furcated mechanism, for the unmanned mine car blown out provides partial brake power.The tyre explosion safety servicing unit has convenient disassembly, is easy to repair, is suitable for the features such as working under harsh environments, and the device has auto-lock function to improve the reliability of the device work during work.
Description
Technical field：
The invention belongs to the field of automobile active safety, a kind of peace of blowing out suitable for the unmanned mine car of 4 wheel driven of specific design
Full servicing unit, the safety auxiliary control after being blown out for unmanned mine car, it is intended to improve the stability after unmanned mine car is blown out and
Security and operating efficiency.
Technical background：
According to related data investigation statisticses, the traffic accident 70% on highway is above is because the automobile run at high speed is quick-fried
What tire caused, and driver carries out faulty operation and can cause car crash due to lacking the experience of emergency processing of blowing out, and follows
Automobile can usually knock into the back phenomenon, and automobile of blowing out can also collide and cause more serious traffic thing with surrounding driving vehicle
Therefore, therefore the control technology blown out is most important.Prior art is mainly the tire pressure collection by tire air pressure monitoring unit
Signal is sent to the central control unit of automobile, and central control unit decision-making simultaneously sends brake hard instruction to set up tyre explosion safety
Control system, longitudinal execution unit closes air throttle after receiving control instruction during automobile flat tire, and horizontal execution unit receives control
Steering assistance motor is controlled after instruction to maintain preferable travel direction.Orthodox car is usually front-wheel steer, in automobile flat tire
When, by active front steering system (Active front steering, AFS) or vehicle body stabilization electronic system
(Electronic Stability Program, ESP) can control to blow out to a certain extent the stability of rear vehicle, but
ESP system is not the standard configuration system of automobile, and both control systems for automobile flat tire nor design.
For the control that mine car is blown out be usually design mine car spare wheel carrier beam device and the tire of mine car carried out tire pressure and
The Monitoring and Controlling of temperature, needs to configure spare tyre on mine car using the device of spare wheel carrier, and is limited to the influence of mine car applied environment,
The diameter of tyres and width of mine car are all larger, so spare tyre carries inconvenient, the application of spare wheel carrier can influence the arrangement of vehicle；It is right
Mine car tire with tire pressure and temperature Monitoring and Controlling, the monitoring system that the method needs needs control algolithm, and will be
The program of complexity is write in entire car controller, it is necessary to using more sensor, be difficult to protect under the severe working environment of mine car
Demonstrate,prove the normal operating conditions of monitoring system.Unmanned technology is the focus of colleges and universities and business research in recent years, also receives state
The great attention of family, and the case of existing unmanned vehicle work and acquirement preferably application effect in aerospace industry and communications and transportation
Really, thus unmanned vehicle can be applied to soon mining etc. industrial circle, therefore, this patent design blowing out suitable for unmanned mine car
Safety aid has preferable application value.There are some shortcomings in the prior art：One is that traditional control of blowing out is mostly is
A kind of control method is provided, it is necessary to write the control program of complexity in entire car controller, and is based on designing a kind of safety auxiliary
The scheme of device is few；Two is that the control device of blowing out for designing is based on hydraulic system, Hydraulic Elements manufacture and machining accuracy mostly
It is required that higher, assemble relatively difficult, valve system and oil circuit is more, fluid is by temperature and whether there is air and is mixed into and is influenceed larger, fluid
System reliability is influenceed after pollution, arrangement is inconvenient, and failure is difficult to check and excludes；Three are not taken into full account after automobile flat tire
The danger that the de- rim of tire further brings；Four is the distribution inequality problem of load after not accounting for blowing out.
This patent devises a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven, by drive mechanism
Motor provides power for leverage transmission mechanism, and the structure that leverage transmission mechanism passes through to be hinged realizes that connection articulated structure is connected with reality
The change of existing leverage relative position, it is simple and reliable for structure, be easy to processing and manufacturing；Kinematic pair is face contact, and pressure is small during work, hold
Loading capability is big, impact resistance；In the case where the driving link characteristics of motion is constant, made by the relative length for changing each component driven
Part obtains the different characteristics of motion, is easily controlled the characteristics of motion of mechanism；When safety aid moves to final state, drive link
4 can contact and roll perpendicular to ground, auxiliary wheel with road surface, and the vertical active force between auxiliary wheel and ground makes to blow out
Axletree where wheel highly raises two wheel lifts so that on axletree, and four-wheel automobile switchs to three-wheel driving mode, it is to avoid four-wheel
There is the danger that wheel rim comes off in the coaxial wheel of not blowing out of automobile flat tire wheel, it is to avoid unmanned mine car is quick-fried when speed higher is travelled
There is the hidden danger of trailing wheel elder generation locking after tire because of brake hard；Auxiliary wheel is equipped with hub driven motor, and electricity is driven by wheel hub
Machine is reversed to automobile offer partial brake power of blowing out, and makes up two wheels of axletree where wheel of blowing out because of the liftoff automobile system for causing
The decrement of power, makes the unmanned mine car blown out be capable of the parking of safety after gradually slowing down or work on, it is to avoid to go out
The now generation of the accident such as sideslip, whipping or overturning；Connect the fork configuration of auxiliary wheel and the transmission for being designed with shock absorber structure
Bar 4 is connected, and can relax the impact produced when auxiliary wheel contacts to earth, and unmanned mine car is delayed during the traveling after blowing out
Punching, damping, improve the ride comfort of running car.
The content of the invention：
The invention belongs to the field of automobile active safety, a kind of peace of blowing out suitable for the unmanned mine car of 4 wheel driven of specific design
Full servicing unit, the safety auxiliary control after being blown out for unmanned mine car, it is intended to improve the stabilization after unmanned mine car trailing wheel is blown out
Property, security and operating efficiency.To achieve these goals, the present invention is realized by following technical scheme：
Tyre explosion safety servicing unit described in technical scheme, it is characterised in that safety aid is by drive mechanism, biography
Motivation structure, attachment structure and auxiliary wheel composition；Drive mechanism uses motor, for safety aid provides power；Driver
Structure uses leverage, including 4 drive links, and the device has auto-lock function when leverage moves to work final state；Attachment structure is used
Articulated structure, the connection between fixation and each leverage for safety aid；Auxiliary wheel is equipped with hub driven motor,
Not only driving force can be provided but also partial brake power can be provided by the unmanned mine car for being reversed to blow out of hub driven motor.
Tyre explosion safety servicing unit described in technical scheme, before the motor in drive mechanism is secured by bolts in automobile
Chassis location between axle and rear axle, specific installation site will meet servicing unit auxiliary wheel when final state is worked and be located at axletree
Centre immediately below requirement, motor output shaft is spatially parallel with axletree, and one section of motor output shaft end is processed into four
Angle prismatic structure, screw thread is processed at shaft end end, and one end of bar 1 processes the through hole of corner prismatic, the prismatic of motor output shaft
Structure is coordinated with the through hole of bar 1, and motor output shaft shaft end bolt coordinates with screw thread, and anti-stopping bar 1 is in motor output shaft
On it is moving axially relative, moved by the rotational movement drive link 1 of motor output shaft, and then realize whole safety auxiliary
The work of device.
Tyre explosion safety servicing unit described in technical scheme, transmission mechanism uses leverage, including 4 drive links, transmission
One end of bar 2 is hinged with vehicle frame, one end, one end of drive link 3 of the other end of bar 2 and the undressed prismatic through hole of drive link 1
It is hinged by attachment structure, the other end of drive link 3 is hinged with the middle part of drive link 4 by attachment structure, articulated structure connection
It is simple and reliable for structure, be easy to processing and manufacturing to realize the change of leverage relative position；Kinematic pair is contacted for face, pressure during work
Small, large carrying capacity, impact resistance；In the case where the driving link characteristics of motion is constant, by the relative length for changing each component
Driven member is obtained the different characteristics of motion, be easily controlled the characteristics of motion of mechanism.
Tyre explosion safety servicing unit described in technical scheme, drive link 4 is designed as shock absorber structure, and one end is cut with scissors with vehicle frame
Connect, the other end is connected with the furcated mechanism equipped with auxiliary wheel, be designed specifically to electromagnetism adjustable hanging system, the system includes car
Body displacement transducer, electromagnetic liquid depression bar and telescopic shock absorber composition, the suspension only need to carry out magnetic by changing size of current
The regulation of field intensity can just realize controlling the purpose of damped coefficient, and unmanned mine car runs on uneven road surface and causes bus or train route to be beated
When, the signal that sensor will be collected is sent to whole-control system, and entire car controller sends control damper electronic coil electricity
The instruction of stream, magnetic field intensity is changed to realize changing the purpose of electromagnetism fluid viscosity by the motion of electric current, realizes damper highly
Adjust automatically, realize control vehicle body, the function of damping, it is ensured that mine car smooth-going traveling；Unmanned mine car load is distributed not after blowing out
, by the adjust automatically of damper height, it is possible to achieve unmanned mine car blow out after counterweight balance, but now vehicle body is forward
Incline, do not allowed for traditional someone's car, but the unmanned mine car that this patent is applicable is possible.
Tyre explosion safety servicing unit described in technical scheme, auxiliary wheel is reversed to by the hub driven motor for assembling
Automobile of blowing out provides partial brake power, makes up the reduction of the automobile braking force that two wheel lifts of axletree where wheel of blowing out cause
Amount, makes the unmanned mine car blown out be capable of the parking of safety after gradually slowing down or work on, it is to avoid sideslip, whipping occur
Or overturn etc. accident generation；Auxiliary wheel is the wheel for being equipped with hub driven motor, compact motor and integrated
Active suspension application, make servicing unit that there is light-weighted feature, while wheel integrated electronic suspension is helped
In buffering road shocks, by the effective control to hub driven motor driving force, it is possible to achieve effective load transfer, increase
The vertical force of the controlled wheel, and then increase the lateral and longitudinal maximum tire force value of the controlled wheel, it is maximum by tire force
The increase of value can preferably ensure to blow out the security of vehicle.
Tyre explosion safety servicing unit described in technical scheme, when final state is worked, drive link 4 is moved to perpendicular to ground
State, wheel realize contact with road surface and on road roll, wheel by and vehicle traveling direction opposite effect power, biography
Lever 2 and rotating bar 3 are conllinear, safety aid self-locking, it is ensured that the reliability of device work；Leverage is realized in servicing unit
After self-locking, now the motor of drive mechanism stops output to the power of drive link 1, needs when not having an auto-lock function relative to device
Motor provides the device of power always, it is possible to reduce the consumption of energy, save energy.
Tyre explosion safety servicing unit described in technical scheme, it is not quick-fried that auxiliary realizes that four-wheel automobile switchs in the course of the work
The three-wheel driving mode of tire axle wheel and auxiliary wheel, two wheels of axletree are in the presence of auxiliary wheel where wheel of blowing out
Realize it is liftoff, can avoid the unmanned mine car run at high speed produced because of brake hard after blowing out trailing wheel elder generation locking hidden danger, together
When the wheel that avoids not blowing out there is the danger of the de- rim of tire.
The relative dimensions design of the tyre explosion safety servicing unit described in technical scheme, transmission leverage and wheel considers vehicle
The road clearance on chassis, the specific size for designing under conditions of movement interference is not produced to original mechanism leverage and wheel.
Compared with prior art, beneficial effects of the present invention：
1, due to using line driving motor, feedback control can be detected by linear position, you can greatly improve steering precision；
Simultaneously because the response of line driving motor is rapid, can reduce turnaround time.
2, the line driving motor of use has the characteristics of speed is fast, and acceleration, deceleration process is short, is capable of achieving fast steering and returns
Just, or even in case of emergency emergency turn can also be realized.
3, due to using line driving motor, divertical motion can be made quiet, noise is low, and efficiency high.
4, by the female cylindrical sleeve of band of be rotatably connected line driving motor axle and rod head, it is possible to increase both sides
The angle range of deflecting roller.
5, connect structure simply, amount of parts is few, and arrangement gets up also relatively easy, and original design need not be carried out big
Variation.
6, due to using line driving motor as power source, it is not necessary to which middle transformation mechanism is straight line convert rotational motion
Motion, and can directly produce linear motion, make to connect structure and greatly simplify, and further save installing space, and increased system
Reliability.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the home position schematic diagram of safety aid of the present invention；
Fig. 2 is the course of work position view of safety aid of the present invention；
Fig. 3 is the work final state position view of safety aid of the present invention；
Arrow represents the travel direction of vehicle in figure；V represents the speed of vehicle traveling.
Specific embodiment：
Specific embodiment of the invention is described in detail below in conjunction with the accompanying drawings.
Refering to Fig. 1, whole tyre explosion safety servicing unit includes drive mechanism, transmission mechanism, attachment structure and auxiliary wheel.
Drive mechanism uses motor, motor to be fixed on chassis by bolt, used as the power source of safety aid；Transmission mechanism
Using leverage, including 4 drive links；Attachment structure uses articulated structure form, fixation and each machine for safety aid
Connection between structure, realizes the relative position change of transmission leverage；Auxiliary wheel uses the wheel equipped with hub driven motor simultaneously
It is installed on furcated mechanism, hub driven motor both can provide driving force for auxiliary wheel, electricity can be driven by wheel hub again
The auxiliary wheel that is reversed to of machine provides partial brake power；The application of the integrated active suspension of auxiliary wheel, helps to delay
Rush road shocks and realize damping effect, while wheel integrated electronic suspension can effectively control pitching and roll fortune
It is dynamic.
Refering to Fig. 2, motor is mounted on the chassis between automobile front axle and axletree by bolt, specific installation site
Meet servicing unit auxiliary wheel when final state is worked and be located at the requirement immediately below the centre of axletree, it is desirable to its output shaft and car
Axle spatially keeping parallelism, one section of output shaft end is processed into corner prismatic structure, screw thread, the one of bar 1 is processed at shaft end end
End processes the through hole of corner prismatic, and prismatic structure and the through hole of bar 1 of motor output shaft are coordinated, motor output shaft axle end
End bolt coordinates with screw thread, and anti-stopping bar 1 is moving axially relative on motor output shaft, is transported by the rotation of motor output shaft
Dynamic to drive drive link 1 to move, the one end of drive link 2 is hinged with vehicle frame by attachment structure；The other end of drive link 2 is with drive link 1 not
One end of prismatic through hole, the one end of drive link 3 is processed to be hinged by attachment structure；The interposition of the other end of drive link 3 and drive link 4
Put and be hinged by attachment structure；Drive link 4 is hinged with vehicle frame, and the other end is connected with the furcated mechanism for being provided with wheel.After automobile
When wheel is blown out, moved by the rotational movement drive link 1 of motor output shaft, bar 1 of passing on Gong is driven by attachment structure and is driven
Bar 2 and drive link 3 are moved, and drive link 3 drives drive link 4 to move by attachment structure.
Refering to Fig. 3, when safety aid moves to final state position, the transmission leverage of design ensures drive link 2 and passes
Lever 3 is conllinear, and drive link 4 is in perpendicular to road surface position state, and current location transmission mechanism realizes auto-lock function, and motor is exited
Working condition；Auxiliary wheel is contacted and rolled with road surface, and two wheel on axletree is made by the vertical effect on auxiliary wheel and ground
Liftoff, hub driven motor is driven reverse masterpiece for partial brake power carries out brake force benefit by inverting to provide during speed higher
Repay, or auxiliary wheel provides driving force.
Claims (9)
1. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven, it is characterised in that safety aid is by driving machine
Structure, transmission mechanism, attachment structure and auxiliary wheel composition；Drive mechanism uses motor, for safety aid provides power；Pass
Motivation structure uses leverage, including 4 drive links, and the device has auto-lock function when leverage moves to work final state；Attachment structure
Using articulated structure, the connection between fixation and each leverage for safety aid；Auxiliary wheel is equipped with wheel hub driving
Motor, can not only provide driving force but also can provide partial brake by the unmanned mine car for being reversed to blow out of hub driven motor
Power.
2. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 1, it is characterised in that electricity
Machine is installed on the chassis location between unmanned mine car front axle and rear axle by bolt, and specific installation site will meet servicing unit and exist
Auxiliary wheel is located at the requirement immediately below the centre of axletree during work final state, and motor output shaft is spatially parallel with axletree, and
And corner prismatic structure is processed at one section of motor output shaft end, screw thread is processed at shaft end end, one end of bar 1 processes corner rib
The through hole of shape, the prismatic structure of motor output shaft coordinates the transmission for realizing power with the through hole of bar 1, and motor output shaft shaft end is used
Bolt coordinates with screw thread, and anti-stopping bar 1 is moving axially relative on motor output shaft；Attachment structure uses articulated structure form,
Each drive link passes through to be hinged the change for realizing relative position to servicing unit in the course of the work.
3. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 1, it is characterised in that pass
Motivation structure uses member structure, specifically includes 4 drive links, and bar 1 is by corner prismatic through hole and the four of motor output shaft processing
Angle prismatic structure coordinates；The one end of bar 2 is hinged with vehicle frame, and the other end is hinged with drive link 1, bar 3；Additionally, the other end of bar 3 and bar 4
Middle part is hinged；The one end of bar 4 is hinged with vehicle frame, and the other end is connected with furcated mechanism, is equipped with the auxiliary of hub driven motor
Wheel is helped to be arranged on furcated mechanism.
4. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 3, it is characterised in that with
The fork configuration of auxiliary wheel connection is connected with the drive link 4 of shock absorber structure, when auxiliary wheel is travelled on road surface, wheel
Because Uneven road can be impacted, drive link 4 is designed as shock absorber structure can relax the impact produced when auxiliary wheel contacts to earth,
And the unmanned mine car after making to blow out absorbs because of the impact energy that Uneven road is produced in the servicing unit course of work, realize slow
Punching, the function of damping, improve the ride comfort of mine car traveling；Auxiliary wheel is the wheel for being equipped with hub driven motor, compact
The application of motor and integrated active suspension, contributes to buffering road shocks and realizes damping effect, while car
Wheel integrated electronic suspension can effectively control pitching and roll motion, be favorably improved the control stability peace of vehicle
It is pliable.
5. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 4, it is characterised in that pass
The structure of lever 4 is designed specifically to electromagnetism adjustable hanging system, and the system includes vehicle body displacement transducer, electromagnetic liquid depression bar and cartridge type
Damper constitute, the suspension only need the regulation that magnetic field intensity is carried out by changing size of current can just realize control damping
The purpose of coefficient, unmanned mine car runs on uneven road surface when causing bus or train route to be beated, and the signal that sensor will be collected is sent to whole
Vehicle control, entire car controller sends the instruction of control damper electronic coil electric current, and magnetic field is changed by the motion of electric current
Intensity realizes the adjust automatically of damper height to realize changing the purpose of electromagnetism fluid viscosity, realizes control vehicle body, the work(of damping
Can, it is ensured that mine car smooth-going traveling；Unmanned mine car load skewness after blowing out, by the adjust automatically of damper height, can be with
Realize unmanned mine car blow out after counterweight balance, improve traveling security.
6. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 5, its feature is in safety
When servicing unit work is to final state, drive link 4 moves to the state perpendicular to ground, auxiliary wheel realize being contacted with road surface and
Rolled on road, auxiliary wheel be subject to vehicle traveling direction opposite effect power, drive link 2 and rotating bar 3 be conllinear, and safety is auxiliary
Help device self-locking, it is ensured that the reliability of device work；After leverage realizes self-locking in servicing unit, the now motor of drive mechanism
Stop the output to the power of drive link 1, need motor to provide the device of power always when there is no auto-lock function relative to device, can
To reduce the consumption of energy, save energy.
7. a kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven as claimed in claim 5, it is characterised in that peace
The installation site of full servicing unit can ensure drive link 4 in final state, and auxiliary wheel is located at the center position lower section of axletree, auxiliary
Help wheel makes to blow out two wheel lifts of the axletree where wheel, current state after being grounded by the vertical with ground
Lower automobile is switched to not blow out the three-wheel driving mode of axletree two-wheeled and auxiliary wheel by four-wheel, it is to avoid wheel coaxial wheel of blowing out is sent out
The danger of the de- rim of crude tyre, improves driving path holding capacity, control stability and the security of automobile of blowing out.
8. a kind of vehicle flat tire safety aid as claimed in claim 7, it is characterised in that automobile switchs to three-wheel by four-wheel
The hidden danger of the trailing wheel elder generation locking produced by brake hard after what the mode of operation of traveling can avoid that four-wheel automobile has blow out,
Improve the security after unmanned mine car is blown out；The wheel hub motor of auxiliary wheel assembling can provide driving force, again can be by wheel
The reversion of hub motor provides partial brake power, makes up the decrement of the automobile braking force that the wheel lift of axletree two causes, and makes
Unmanned mine car is capable of the parking of safety after gradually slowing down after blowing out, it is to avoid the hair of the accidents such as sideslip, whipping or overturning occur
It is raw.
9. a kind of vehicle flat tire safety aid as claimed in claim 7, it is characterised in that auxiliary wheel is using equipped with wheel
The auxiliary wheel of hub motor, tire tread width is identical with the tread width of wheel of not blowing out, and wheel diameter design considers
To vehicle chassis space, Design assistant wheel under conditions of work(is interfered is transported meeting space requirement and former vehicle structure not being produced
Diameter, save arrangement space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133529.4A CN106828440B (en) | 2017-03-08 | 2017-03-08 | A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133529.4A CN106828440B (en) | 2017-03-08 | 2017-03-08 | A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven |
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| Publication Number | Publication Date |
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| CN106828440A true CN106828440A (en) | 2017-06-13 |
| CN106828440B CN106828440B (en) | 2018-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710133529.4A Expired - Fee Related CN106828440B (en) | 2017-03-08 | 2017-03-08 | A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven |
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| CN107640139A (en) * | 2017-11-01 | 2018-01-30 | 景德镇陶瓷大学 | A kind of parking aid |
| CN110194033A (en) * | 2019-05-09 | 2019-09-03 | 中国电子信息产业集团有限公司第六研究所 | A kind of draw off gear and life-support systems of blowing out |
| CN112721874A (en) * | 2021-01-28 | 2021-04-30 | 青岛理工大学 | Auxiliary parking device, system and automobile |
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| CN112721874A (en) * | 2021-01-28 | 2021-04-30 | 青岛理工大学 | Auxiliary parking device, system and automobile |
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| CN106828440B (en) | 2018-07-31 |
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