CN106828440B - A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven - Google Patents

A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven Download PDF

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Publication number
CN106828440B
CN106828440B CN201710133529.4A CN201710133529A CN106828440B CN 106828440 B CN106828440 B CN 106828440B CN 201710133529 A CN201710133529 A CN 201710133529A CN 106828440 B CN106828440 B CN 106828440B
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CN
China
Prior art keywords
wheel
drive link
auxiliary
mine car
unmanned mine
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CN201710133529.4A
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Chinese (zh)
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CN106828440A (en
Inventor
郑宏宇
王建涛
刘琛
张友朋
赵明新
张佳旭
程成
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吉林大学
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Priority to CN201710133529.4A priority Critical patent/CN106828440B/en
Publication of CN106828440A publication Critical patent/CN106828440A/en
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Publication of CN106828440B publication Critical patent/CN106828440B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/14Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
    • B60S9/205Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
    • B60S9/21Power 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
    • B60S9/215Power 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

Abstract

The present invention devises a kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven, it is intended to improve the safety after unmanned tramcar wheel is blown out and ensure the working efficiency of mine car.The auxiliary device is made of driving mechanism, transmission mechanism, connection structure and auxiliary wheel.Driving mechanism uses stand-by motor, the power source as safety aid;Transmission mechanism uses leverage, including more drive links to work together;Connection structure uses articulated structure form, for the connection between the fixation and each mechanism of safety aid;Auxiliary wheel is equipped with hub driven motor, installs on furcated mechanism, the unmanned mine car to blow out provides partial brake power.The tyre explosion safety auxiliary device have the characteristics that it is convenient for disassembly and assembly, easy to repair, be suitable for working under harsh environments, the device has self-locking function to improve the reliability of the device work when work.

Description

A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven

Technical field:

The invention belongs to the fields of automobile active safety, specifically devise a kind of peace of blowing out suitable for the unmanned mine car of 4 wheel driven Full auxiliary device, after blowing out for unmanned mine car safety auxiliary control, it is intended to improve the stability after unmanned mine car is blown out and Safety and working efficiency.

Technical background:

According to related data investigation statistics, 70% or more traffic accident on highway is since the automobile run at high speed is quick-fried Caused by tire, and driver can lead to car crash due to lacking the experience progress faulty operation for emergency processing of blowing out, and follow Automobile can usually knock into the back phenomenon, and automobile of blowing out can also collide with surrounding driving vehicle and cause more serious traffic thing Therefore therefore the control technology blown out it is most important.The prior art is mainly the tire pressure acquisition by tire air pressure monitoring unit Signal is sent to the central control unit of automobile, and central control unit decision simultaneously sends emergency braking instruction to establish tyre explosion safety Control system, longitudinal direction execution unit closes air throttle after receiving control instruction when automobile flat tire, and lateral execution unit receives control Steering assistance motor is controlled after instruction to maintain ideal travel direction.Orthodox car is usually front-wheel steer, in automobile flat tire When, electronic system is stablized by active front steering system (Active front steering, AFS) or vehicle body (Electronic Stability Program, ESP) can control the stability for rear vehicle of blowing out to a certain extent, still 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 to the tire of mine car carry out tire pressure and The monitoring and controlling of temperature configures spare tyre using the device needs of spare wheel carrier on mine car, and is limited to the influence of mine car application environment, The diameter of tyres and width of mine car are all larger, so spare tyre is inconvenient to carry, the application of spare wheel carrier can influence the arrangement of vehicle;It is right Mine car tire uses the monitoring and controlling of tire pressure and temperature, the monitoring system that the method needs to need control algolithm, and will be Complicated program is write in entire car controller, is needed to apply more sensor, is not easy to protect under the severe working environment of mine car Demonstrate,prove the normal operating conditions of monitoring system.Unmanned technology is the hot spot of colleges and universities and business research in recent years, also receives state The great attention of family, and have case and the acquirement preferably application effect that unmanned vehicle works in aerospace industry and communications and transportation Fruit, therefore unmanned vehicle can be applied to the industrial circles such as mining soon, therefore, this patent design is suitable for blowing out for unmanned mine car Safety aid has preferable application value.Some disadvantages exist in the prior art:First, traditional control of blowing out mostly is A kind of control method is provided, needs to write complicated control program in entire car controller, and based on a kind of safety auxiliary of design The scheme of device is few;Second is that the control device of blowing out of design is mostly to be based on hydraulic system, Hydraulic Elements manufacture and machining accuracy More demanding, assembly is relatively difficult, valve system and oil circuit is more, fluid by temperature and whether there is or not air it is mixed be affected, fluid System reliability is influenced after pollution, arrangement is inconvenient, and failure is not easy to check and exclude;Third, not fully considered after automobile flat tire Tire takes off the danger that rim is further brought;Fourth, do not account for blow out after load distribution unevenness problem.

This patent devises a kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven, by driving mechanism Motor provides power for leverage transmission mechanism, and leverage transmission mechanism realizes that connection articulated structure is connected with reality by hinged structure The variation of existing leverage relative position, manufacture simple and reliable for structure, easy to process;Kinematic pair is face contact, and pressure is small, holds when work Loading capability is big, impact resistance;In the case where the driving link characteristics of motion is constant, the relative length by changing each component makes driven Part obtains the different characteristics of motion, and the characteristics of motion of mechanism is made to be easy to control;When safety aid moves to final state, drive link 4 can contact and roll with road surface perpendicular to ground, auxiliary wheel, and the vertical active force between auxiliary wheel and ground makes to blow out Axle height increases two wheel lifts so that on axle where wheel, and four-wheel automobile switchs to three-wheel driving mode, avoids four-wheel The danger that wheel rim falls off occurs for the coaxial wheel of not blowing out of automobile flat tire wheel, avoids unmanned mine car quick-fried when driving in higher speed The hidden danger of trailing wheel elder generation locking occurs after tire because of emergency braking;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, two wheels automobile system caused by liftoff of axle where making up wheel of blowing out The decrement of power makes the unmanned mine car blown out be capable of the parking of safety after gradual slow down or work on, avoids out The now generation of the accidents such as sideslip, whipping or overturning;It connects the fork configuration of auxiliary wheel and is designed with the transmission of shock absorber structure Bar 4 connects, and can mitigate the impact generated when auxiliary wheel contacts to earth, and unmanned mine car is made to delay in the driving process after blowing out Punching, damping, improve the ride comfort of running car.

Invention content:

The invention belongs to the fields of automobile active safety, specifically devise a kind of peace of blowing out suitable for the unmanned mine car of 4 wheel driven Full auxiliary device, the safety auxiliary control after blowing out for unmanned mine car, it is intended to improve the stabilization after unmanned mine car trailing wheel is blown out Property, safety and working efficiency.To achieve the goals above, the present invention is realized by following technical solution:

Tyre explosion safety auxiliary device described in technical solution, it is characterised in that safety aid is by driving mechanism, biography Motivation structure, connection structure and auxiliary wheel composition;Driving mechanism uses motor, and power is provided for safety aid;Driver Structure uses leverage, including 4 drive links, and the device has self-locking function when leverage moves to work final state;Connection structure uses Articulated structure, for the connection between the fixation and each leverage of 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 auxiliary device described in technical solution, before the motor in driving mechanism is secured by bolts in automobile Chassis location between axis and rear axle, specific installation site will meet auxiliary device auxiliary wheel when working final state and be located at axle It is intermediate immediately below requirement, motor output shaft is spatially parallel with axle, and one section of motor output shaft end is processed into four Angle prismatic structure processes screw thread at shaft end end, and one end of bar 1 processes the through-hole of quadrangle prismatic, the prismatic of motor output shaft Structure and the through-hole of bar 1 are coordinated, and motor output shaft shaft end bolt and screw-thread fit prevent bar 1 in motor output shaft On axial relative movement, moved by the rotational movement drive link 1 of motor output shaft, and then realize entire safety auxiliary The work of device.

Tyre explosion safety auxiliary device described in technical solution, transmission mechanism use leverage, including 4 drive links, transmission One end of bar 2 is hinged with vehicle frame, the other end of bar 2 and one end of the undressed prismatic through-hole of drive link 1, one end of drive link 3 Hinged by connection structure, 3 other end of drive link and 4 intermediate position of drive link are hinged by connection structure, articulated structure connection To realize the variation of leverage relative position, manufacture simple and reliable for structure, easy to process;Kinematic pair is face contact, pressure when 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 So that driven member is obtained the different characteristics of motion, the characteristics of motion of mechanism is made to be easy to control.

Tyre explosion safety auxiliary device described in technical solution, drive link 4 are designed as shock absorber structure, and one end is cut with scissors with vehicle frame It connects, the other end is connected with the furcated mechanism equipped with auxiliary wheel, is designed specifically to electromagnetism adjustable hanging system, which includes vehicle Body displacement sensor, electromagnetic liquid compression bar and telescopic shock absorber composition, the suspension only need to carry out magnetic by changing size of current The adjusting of field intensity can realize that the purpose of control damped coefficient, unmanned mine car run on uneven road surface and bus or train route caused to be beated When, collected signal is sent to whole-control system by sensor, and entire car controller sends control damper electronic coil electricity The instruction of stream changes magnetic field intensity to realize the purpose for changing electromagnetism fluid viscosity by the movement of electric current, realizes damper height Adjust automatically, realize control vehicle body, damping function, ensure mine car smooth-going traveling;Unmanned mine car load is distributed not after blowing out , by the adjust automatically of damper height, the counterweight balance after unmanned mine car is blown out may be implemented, but vehicle body is forward at this time It tilts, traditional someone's vehicle is not allowed, but the unmanned mine car being applicable in this patent is possible.

Tyre explosion safety auxiliary device described in technical solution, auxiliary wheel are reversed to by the hub driven motor of assembly Automobile of blowing out provides partial brake power, the reduction of automobile braking force caused by two wheel lifts of axle where making up wheel of blowing out Amount makes the unmanned mine car blown out be capable of the parking of safety after gradual slow down or work on, avoids the occurrence of sideslip, whipping Or the generation of the accidents such as overturning;Auxiliary wheel is the wheel for being equipped with hub driven motor, compact driving motor and integrated Active suspension application, so that auxiliary device is had the characteristics that light-weighted, while wheel integrated electronic suspension helps Effective load transfer may be implemented by effective control to hub driven motor driving force in buffering road shocks, increase The vertical force of the controlled wheel, and then increase the lateral and longitudinal maximum tire force value of the controlled wheel, pass through tire force maximum The increase of value can preferably ensure to blow out the safety of vehicle.

Tyre explosion safety auxiliary device described in technical solution, when working final state, drive link 4 is moved to perpendicular to ground State, wheel realization contact with road surface and rolled on road, wheel by with vehicle traveling direction opposite effect power, biography Lever 2 and rotating bar 3 are conllinear, and safety aid self-locking ensure that the reliability of device work;Leverage is realized in auxiliary device After self-locking, the motor of driving mechanism stops the output to 1 power of drive link at this time, does not have to need when self-locking function relative to device Motor provides always the device of power, it is possible to reduce the energy is saved in the consumption of energy.

Tyre explosion safety auxiliary device described in technical solution, it is not quick-fried that auxiliary realizes that four-wheel automobile switchs to during the work time The three-wheel driving mode of tire axle wheel and auxiliary wheel, two wheels of axle are under the action of auxiliary wheel where wheel of blowing out It realizes liftoff, generates the hidden danger of trailing wheel elder generation locking after can blowing out to avoid the unmanned mine car run at high speed because of emergency braking, together When the wheel that avoids not blowing out the danger that tire takes off rim occurs.

Tyre explosion safety auxiliary device described in technical solution, the relative dimensions design for being driven leverage and wheel consider vehicle The road clearance on chassis, the specific size that leverage and wheel are designed under conditions of not generating movement interference to original mechanism.

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 speed fast, and the short feature of acceleration, deceleration process is, it can be achieved that fast steering and return 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 efficient.

4, pass through the female cylindrical sleeve of band of be rotatably connected line driving motor axis and rod head, it is possible to increase both sides The angle range of deflecting roller.

5, connect that structure is simple, and amount of parts is few, arrangement is got up also relatively easy, and need not be carried out to original design big Variation.

6, since using line driving motor, as power source, it is straight line not need intermediate transformation mechanism convert rotational motion Movement, and can directly generate linear motion, make to connect structure and greatly simplify, and further save installation space, and increased system Reliability.

Description of the drawings:

Following further describes the present invention with reference to the 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 indicates the travel direction of vehicle in figure;V indicates the speed of vehicle traveling;

Main element symbol description is as follows:

1, vehicle frame 2, prismatic through-hole

3, the first drive link 4, the second drive link

5, third drive link 6, the 4th drive link

7, auxiliary wheel 8, furcated mechanism

Specific implementation mode:

The specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings.

Refering to fig. 1, entire tyre explosion safety auxiliary device includes driving mechanism, transmission mechanism, connection structure and auxiliary wheel 7.Driving mechanism uses motor, motor to be fixed on chassis by bolt, the power source as safety aid;Driver Structure uses leverage, including 4 drive links;Connection structure uses articulated structure form, for the fixation of safety aid and each The relative position variation of transmission leverage is realized in connection between mechanism;Auxiliary wheel 7 is using the wheel equipped with hub driven motor And be installed on furcated mechanism 8, hub driven motor not only can be that auxiliary wheel 7 provides driving force, but also can be driven by wheel hub The auxiliary wheel 7 that is reversed to of dynamic motor provides partial brake power;The application of the integrated active suspension of auxiliary wheel 7, has Help buffer road shocks and realize damping effect, while 7 integrated electronic suspension of auxiliary wheel can be controlled effectively and be bowed It faces upward and roll motion.

Referring to Fig.2, motor is mounted on by bolt on the chassis between automobile front axle and axle, specific installation site Meet auxiliary device auxiliary wheel 7 when working final state and be located at the requirement immediately below the centre of axle, it is desirable that its output shaft with Spatially keeping parallelism, one section of output shaft end are processed into quadrangle prismatic structure to axle, process screw thread at shaft end end, first passes One end of lever 3 processes quadrangle prismatic through-hole 2, the prismatic through-hole 2 of the prismatic structure of motor output shaft and the first drive link 3 into Row cooperation, motor output shaft shaft end bolt and screw-thread fit, prevent axial phase of first drive link 3 on motor output shaft To movement, moved by the first drive link of rotational movement 3 of motor output shaft, 4 one end of the second drive link passes through with vehicle frame 1 Connection structure is hinged;One end of 3 undressed prismatic through-hole 2 of the other end of second drive link 4 and the first drive link, third drive link 5 one end are hinged by connection structure;5 other end of third drive link and the centre position of the 4th drive link 6 are cut with scissors by connection structure It connects;4th drive link 6 is hinged with vehicle frame 1, and the other end is connect with the furcated mechanism 8 for being equipped with auxiliary wheel 7.Automobile back wheel is blown out When, it is moved by the first drive link of rotational movement 3 of motor output shaft, the first drive link 3 drives the by connection structure Two drive links 4 and third drive link 5 move, and third drive link 5 drives the 4th drive link 6 to move by connection structure.

Refering to Fig. 3, when safety aid moves to final state position, the transmission leverage of design ensures the second drive link 4 Conllinear with third drive link 5, the 4th drive link 6 is in perpendicular to road surface position state, and current location transmission mechanism realizes self-locking Function, motor exit working condition;Auxiliary wheel 7 is contacted with road surface and is rolled, and passes through the vertical effect of auxiliary wheel 7 and ground Make two wheel lift on axle, hub driven motor is driven reverse power and is used as partial brake power by inverting to provide when higher speed Carry out braking force compensating, or auxiliary wheel 7 provides driving force.

Claims (3)

1. a kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven, it is characterised in that safety aid is by driving machine Structure, transmission mechanism, connection structure and auxiliary wheel composition;Driving mechanism provides power by motor for transmission mechanism, as pacifies Full power auxiliary devices;Transmission mechanism uses leverage, including 4 drive links, when transmission mechanism moves to work final state, The device has self-locking function, and the second drive link and third drive link are conllinear, safety aid self-locking, auxiliary device self-locking Afterwards, the motor of driving mechanism stops the output to the first drive link power at this time, ensure that the reliability of device work;Connection knot Structure uses articulated structure, for the connection between the fixation and each drive link of safety aid;Auxiliary wheel is equipped with wheel hub Driving motor;When transmission mechanism moves to final state, the 4th drive link can be contacted and be rolled with ground perpendicular to ground, auxiliary wheel Dynamic, the axle height where wheel that makes to blow out of the vertical active force between auxiliary wheel and ground increases two wheels so that on axle Liftoff, the unmanned mine car of four-wheel switchs to three-wheel driving mode, and the unmanned mine car of four-wheel is avoided to blow out the coaxial wheel hair of not blowing out of wheel The danger that raw wheel rim falls off.
2. a kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven according to claim 1, it is characterised in that Motor is installed on the chassis location between unmanned mine car front axle and rear axle by bolt, and specific installation site will meet auxiliary device When working final state, auxiliary wheel is located at the requirement immediately below the centre of axle, and motor output shaft is spatially parallel with axle, And one section of motor output shaft end is processed into quadrangle prismatic structure, and screw thread, the first drive link are processed in the last position of shaft end One end process the through-hole of quadrangle prismatic, power is realized in the prismatic structure of motor output shaft and the through-hole cooperation of the first drive link Transmission, motor output shaft shaft end bolt and screw-thread fit prevent axial phase of first drive link on motor output shaft To movement;Each drive link passes through the hinged variation for realizing relative position to auxiliary device during the work time;First drive link passes through Quadrangle prismatic through-hole and the quadrangle prismatic structure of motor output shaft processing coordinate;Second drive link one end is hinged with vehicle frame, another End and the first drive link, third drive link are hinged;In addition, position is cut with scissors among the other end of third drive link and the 4th drive link It connects;4th drive link one end is hinged with vehicle frame, and the other end is connect with furcated mechanism, is equipped with the auxiliary wheel of hub driven motor On furcated mechanism;The furcated mechanism of auxiliary wheel connection is connect with the 4th drive link, and the 4th drive link of design is electromagnetism Adjustable hanging system, auxiliary wheel are the wheels for being equipped with hub driven motor, using compact driving motor and integrated Active suspension is to achieve the effect that buffer road shocks and realize damping, while auxiliary device integrated electronic suspension, It is effective to inhibit pitching and roll motion.
3. a kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven according to claim 2, it is characterised in that 4th drive link is electromagnetism adjustable hanging system, and the system is by vehicle body displacement sensor, electromagnetic liquid compression bar and telescopic shock absorber group At the adjust automatically of realization damper height, unmanned mine car load is unevenly distributed after blowing out, and passes through the automatic tune of damper height It is whole, it realizes the counterweight balance after unmanned mine car is blown out, improves the safety of traveling;The installation site of safety aid ensures the In final state, auxiliary wheel is located at below the center position of axle four drive links, by vertical with ground after auxiliary wheel ground connection Straight active force makes to blow out two wheel lifts of the axle where wheel, and unmanned mine car is switched to not blow out by four-wheel under current state The danger that wheel rim falls off occurs for the three-wheel driving mode of axle two-wheeled and auxiliary wheel, the wheel coaxial wheel that avoids blowing out, and improves It blows out driving path holding capacity, control stability and the safety of unmanned mine car.
CN201710133529.4A 2017-03-08 2017-03-08 A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven CN106828440B (en)

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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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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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CN106828440B true CN106828440B (en) 2018-07-31

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005061057A1 (en) * 2005-12-21 2008-04-03 Glushko, Viktor, Dr. Motor vehicle`s i.e. car, ends lifting and/or moving device, has pivoting arm with supporting wheel at its free end, where pivoting cylinder and arm are aligned in same direction in idle state when seen from pivoting axes
DE102006060190A1 (en) * 2006-12-20 2008-06-26 Eckhard Verwiebe Tandem displacement aid for vehicle trailer has small synchronously pivoted and driven sprung wheels or wheel pairs movable in and out at same time
CN103507788A (en) * 2013-10-06 2014-01-15 张强 Supporting device for protection after tire bursts
CN104500641A (en) * 2015-01-14 2015-04-08 青岛理工大学 Birotor self-powered damper based on magnetorheological elastomers
CN106335478A (en) * 2016-09-25 2017-01-18 威海高登旅游休闲用品有限公司 Travel trailer guide wheel device
CN206733969U (en) * 2017-03-08 2017-12-12 吉林大学 A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005061057A1 (en) * 2005-12-21 2008-04-03 Glushko, Viktor, Dr. Motor vehicle`s i.e. car, ends lifting and/or moving device, has pivoting arm with supporting wheel at its free end, where pivoting cylinder and arm are aligned in same direction in idle state when seen from pivoting axes
DE102006060190A1 (en) * 2006-12-20 2008-06-26 Eckhard Verwiebe Tandem displacement aid for vehicle trailer has small synchronously pivoted and driven sprung wheels or wheel pairs movable in and out at same time
CN103507788A (en) * 2013-10-06 2014-01-15 张强 Supporting device for protection after tire bursts
CN104500641A (en) * 2015-01-14 2015-04-08 青岛理工大学 Birotor self-powered damper based on magnetorheological elastomers
CN106335478A (en) * 2016-09-25 2017-01-18 威海高登旅游休闲用品有限公司 Travel trailer guide wheel device
CN206733969U (en) * 2017-03-08 2017-12-12 吉林大学 A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven

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