CN107696813A - The independent suspension device and closed type hydraulic system of Mecanum wheels - Google Patents
The independent suspension device and closed type hydraulic system of Mecanum wheels Download PDFInfo
- Publication number
- CN107696813A CN107696813A CN201711106092.1A CN201711106092A CN107696813A CN 107696813 A CN107696813 A CN 107696813A CN 201711106092 A CN201711106092 A CN 201711106092A CN 107696813 A CN107696813 A CN 107696813A
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- CN
- China
- Prior art keywords
- bidirectional variable
- oil
- variable hydraulic
- motor
- mecanum wheels
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/265—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs hydraulic springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/28—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides the independent suspension device and closed type hydraulic system of Mecanum wheels, the independent suspension device of Mecanum wheels includes pedestal, wheel motor and hydro-pneumatic spring, the wheel motor is arranged on Mecanum wheels, Mecanum wheels are arranged on pedestal, pedestal one end is arranged on vehicle frame by axis of rotation, hydro-pneumatic spring one end is hinged on the pedestal other end, and the hydro-pneumatic spring other end is hinged on vehicle frame.The independent suspension device overall dimensions of Mecanum wheels diminish, and can bear larger lateral load.Closed type hydraulic system includes bidirectional variable hydraulic pump, two-position four-way coasting valve, bidirectional variable hydraulic motor and repairing structure, one oil inlet of an oil-out and bidirectional variable hydraulic motor of bidirectional variable hydraulic pump is connected by the first oil pipe, and another oil-out of the bidirectional variable hydraulic pump is connected with bidirectional variable hydraulic motor another oil inlet by the second oil pipe.Mecanum speed and the steering of the independent suspension device of Mecanum wheels are controlled by the closed type hydraulic system, can meet the needs of heavily loaded AGV.
Description
Technical field
The invention belongs to power part technology and hydraulic system field, more particularly, to independently hanging for Mecanum wheels
Hang device and closed type hydraulic system.
Background technology
Mecanum wheels are a kind of Omni-mobile wheels, are mainly used on the Intelligent mobile equipments such as AGV, according to wheel in itself
Unique structure type, it is possible to achieve advance, retreat, wedge shape, motion mode, the motion control accuracy such as to rotate in place high.
At present, driven in the driving pattern of Mecanum wheels using motor, this type of drive is mainly used in load not
On big wheel, with heavily loaded AGV development, servo direct current motor acceleration and deceleration device driving can not meet to require, it is main because
For 1)：The size of motor reducer is big, limited space.2)：Powerful DC servo motor should not be sought, expensive.Cause
This, it is necessary to drive Mecanum to take turns using hydraulic motor.
In real work, Uneven road, the carrying of each wheel is uneven, and the Mecanum wheels of existing small carrying are general
Do not possess independent suspension structure, but the Mecanum wheels of large-tonnage carrying are necessarily required to independent suspension arrangement, ensure transport goods
The stationarity of thing.
The content of the invention
In view of this, the invention is directed to the independent suspension device and closed type hydraulic system of Mecanum wheels, with suitable
Answer the demand of heavily loaded AGV cars.
To reach above-mentioned purpose, what the technical scheme of the invention was realized in：
The independent suspension device of Mecanum wheels, including pedestal, wheel motor and hydro-pneumatic spring, the wheel motor include
Bidirectional variable hydraulic motor, the wheel motor are arranged on Mecanum wheels, drive Mecanum wheels to rotate by the wheel motor,
The Mecanum wheels are arranged on pedestal, and the pedestal one end is arranged on vehicle frame by axis of rotation, described hydro-pneumatic spring one end
Be hinged on the pedestal other end, the hydro-pneumatic spring other end is hinged on vehicle frame, two jointed shaft axis, the shaft axis respectively and
Mecanum wheel axis parallels are set.
Further, bearing is provided between the rotating shaft and vehicle frame.
Further, the bearing is taper roll bearing.
Further, the bidirectional variable hydraulic motor is bidirectional variable piston motor.
Relative to prior art, the independent suspension device of the Mecanum wheels described in the invention has the advantage that：
Described in the invention Mecanum wheel independent suspension device, by set hydro-pneumatic spring energy auto-extending and
Shrink to adapt to the influence that ground injustice is brought.Using wheel motor, wheel motor is integrated decelerator and hydraulic motor,
Overall dimensions diminish, and can bear larger lateral load.
Closed type hydraulic system, including bidirectional variable hydraulic pump, two-position four-way coasting valve, bidirectional variable hydraulic motor and repairing
Structure；Wherein：
One oil inlet of an oil-out and bidirectional variable hydraulic motor of the bidirectional variable hydraulic pump passes through the first oil
Pipe connects, and another oil-out and another oil inlet of bidirectional variable hydraulic motor of the bidirectional variable hydraulic pump pass through the second oil
Pipe connects；
The two-position four-way coasting valve oil inlet connects with fuel tank respectively with oil return opening, two-position four-way coasting valve work A
Mouth connects with one oil inlet of bidirectional variable hydraulic motor, its work B mouths and another oil inlet of bidirectional variable hydraulic motor company
It is logical；
The repairing structure connects with two oil inlets of bidirectional variable hydraulic motor, for giving bidirectional variable hydraulic motor
Supplement hydraulic oil.
Further, the closed type hydraulic system also includes two the first overflow relief valves, two the first overflow peaces
Full valve is connected in parallel between two oil inlets of bidirectional variable hydraulic motor, and this two the first overflow relief valve uninstall direction phases
Instead.
Further, the repairing structure includes unidirectionally quantifying slippage pump and two check valves, and this unidirectionally quantifies slippage pump
With bidirectional variable hydraulic pump by axis connection, this unidirectionally quantifies slippage pump oil inlet and connected with fuel tank, and this unidirectionally quantifies slippage pump
Oil-out and two check valve oil inlets are respectively communicated with, the liquid outlet and bidirectional variable hydraulic motor one of one of check valve
Inlet connects, and another inlet connects the liquid outlet of another check valve with bidirectional variable hydraulic motor.
Further, unidirectional quantify is provided with filter between slippage pump oil inlet and fuel tank.
Further, unidirectional quantify is provided with the second overflow valve between slippage pump and two check valves.
Further, the closed type hydraulic system also includes two-position three way flushing valve, the oil inlet of the two-position three way flushing valve
Connected with the first oil pipe, the two-position three way flushing valve oil-out and the second oil pipe connection, the A hydraulic fluid ports of the two-position three way flushing valve and
Fuel tank connects.
Relative to prior art, the closed type hydraulic system described in the invention has the advantage that：
Closed type hydraulic system described in the invention, repairing, flushing are provided with system, safety, filters, slide work(
Energy.Variable pump addition of variable motor mode of speed regulation, speed adjustable range is wide, efficiency high, adapts to the situation of Uneven road, and overall dimensions are small,
The intensive manufacture of product is completed, is easy to promote and uses.
Brief description of the drawings
The accompanying drawing for forming the part of the invention is used for providing further understanding the invention, present invention wound
The schematic description and description made is used to explain the invention, does not form the improper restriction to the invention.
In accompanying drawing：
Fig. 1 is the independent suspension device structural representation of the Mecanum wheels described in the present embodiment；
Fig. 2 is closed type hydraulic system schematic diagram described in the present embodiment.
Description of reference numerals：
1- pedestals；2- wheel motors；
3-Mecanum takes turns；4- bearing blocks；
5- vehicle frames；6- hydro-pneumatic springs；
7- two-position three way flushing valves；8- two-position four-way coasting valves；
9- fuel tanks；10- motors；
11- bidirectional variable hydraulic pumps；12- filters；
13- unidirectionally quantifies slippage pump；The overflow valves of 14- first；
15- check valves；The oil pipes of 16- first；
The oil pipes of 17- second；The overflow valves of 18- second；
19- bidirectional variable hydraulic motors.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the invention can
To be mutually combined.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For the limitation to the invention.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the invention, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the invention
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
Describe the invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The independent suspension device of Mecanum wheels, including pedestal 1, wheel motor 2 and hydro-pneumatic spring 6, the wheel motor 2
Including bidirectional variable hydraulic motor 19, decelerator, valve group and brake, the bidirectional variable hydraulic motor 19 is bidirectional variable post
Saimaa reaches, and pedestal 1 is affixed by the flange and wheel motor 2 set thereon, the wheel motor 2 by the flange that sets thereon and
The flange of Mecanum wheels 3 is affixed, and thus Mecanum wheels are arranged on pedestal 1, and the two-way change for passing through wheel motor 2
Measuring hydraulic motor 19 drives Mecanum wheels to rotate, and the one end of pedestal 1 is arranged on vehicle frame 5 by axis of rotation, the rotating shaft and car
Bearing is provided between frame 5, the bearing is taper roll bearing, and bearing bearing block 4 is packed on vehicle frame 5, realizes the one end of pedestal 1
It is arranged on by axis of rotation on vehicle frame 5, described one end of hydro-pneumatic spring 6 is hinged on the other end of pedestal 1, and the hydro-pneumatic spring 6 is another
End is hinged on vehicle frame 5, realizes the rotation connection relation between the other end of pedestal 1 and vehicle frame 5, and meet two jointed shaft axis,
Shaft axis are set with Mecanum wheel axis parallels respectively, ensure that Mecanum wheels adapt to the influence that ground injustice is brought.
Closed type hydraulic system, including bidirectional variable hydraulic pump 11, two-position four-way coasting valve 8, bidirectional variable hydraulic motor 19
With repairing structure；Wherein：Bidirectional variable hydraulic pump 11 is controlled by motor 10, an oil-out of the bidirectional variable hydraulic pump 11 and
19 1 oil inlets of bidirectional variable hydraulic motor are connected by the first oil pipe 16, and another of the bidirectional variable hydraulic pump 11 is fuel-displaced
Mouth is connected with another oil inlet of bidirectional variable hydraulic motor 19 by the second oil pipe 17, and bidirectional variable hydraulic pump 11 carries servo
Control valve, the rotating speed of bidirectional variable hydraulic motor 19 and rotation side are controlled by changing the discharge capacity of bidirectional variable hydraulic pump 11
To, and then control rotating speed and the direction of rotation of the Mecanum wheels being connected with the bidirectional variable hydraulic motor 19；The two-position four-way
The oil inlet of coasting valve 8 connects with fuel tank 9 respectively with oil return opening, and the two-position four-way coasting valve 8 work A mouths pass through the He of the first oil pipe 16
The 19 1 oil inlet connections of bidirectional variable hydraulic motor, its work B mouths pass through the second oil pipe 17 and bidirectional variable hydraulic motor 19
Another oil inlet connects, and connects the two cavity oil liquid of closed circuit and fuel tank by the two-position four-way coasting valve 8, makes
Mecanum wheels are in art skating state；The repairing structure is used to supplement hydraulic oil, the benefit to bidirectional variable hydraulic motor 19
Oily structure includes unidirectionally quantifying slippage pump 13 and two check valves 15, and it is gear pump that this, which unidirectionally quantifies slippage pump 13, and this is unidirectional fixed
Slippage pump 13 and bidirectional variable hydraulic pump 11 are measured by axis connection, this unidirectionally quantifies the oil inlet of slippage pump 13 and connected with fuel tank 9, should
Unidirectionally quantify the oil-out of slippage pump 13 and two oil inlets of check valve 15 are respectively communicated with, the liquid outlet of one of check valve 15 leads to
Cross 19 1 inlets of the first oil pipe and bidirectional variable hydraulic motor to connect, the liquid outlet of another check valve 15 passes through the second oil
Another inlet is connected pipe 17 with bidirectional variable hydraulic motor 19, and bidirectional variable hydraulic pump 11 is compensated by the repairing structure
With the leakage of bidirectional variable hydraulic motor 19, ensure that low pressure line has a constant pressure value, to prevent cavitation and sky
Air infiltration enters system, while also can help system radiating.
In this implementation, in order to ensure the charge oil pressure of bidirectional variable hydraulic motor 19 in setting range, the enclosed liquid
Pressure system also includes two the first overflow relief valves 14, and two first overflow relief valves 14 are connected in bidirectional variable liquid in parallel
Between 19 two oil inlets of pressure motor, and two uninstall directions of the first overflow relief valve 14 are on the contrary, pass through two uninstall directions
The first opposite overflow valve 14, the pressure of hydraulic system is ensure that, ensure that Hydraulic Elements are not stressed the damage of impact, during overload
The maximum stream flow of hydraulic pump can be made to leak into low pressure pipeline rapidly from pressure duct, and then bidirectional variable hydraulic motor 19 is carried out
Protection.
In order to ensure oil quality, unidirectional quantify is provided with filter 12 between the oil inlet of slippage pump 13 and fuel tank 9.
In this implementation, unidirectional quantify is provided with the second overflow valve 18 between slippage pump 13 and two check valves 15, thus, single
A constant hydraulic power source is formed to the quantitative overflow valve 18 of slippage pump 13 and second.
In this implementation, the closed type hydraulic system also includes two-position three way flushing valve 7, the oil-feed of the two-position three way flushing valve 7
Mouth connects with the first oil pipe 16, and the oil-out of two-position three way flushing valve 7 and the second oil pipe 17 connect, the two-position three way flushing valve 7
A hydraulic fluid ports connected with fuel tank 9, the setting of two-position three way flushing valve 7, the hydraulic oil of closed circuit and the fluid of fuel tank 9 can be entered
Row exchanges, and reduces the heat of executive component and pipeline in closed system, and renewal hydraulic oil.
The preferred embodiment of the invention is the foregoing is only, is not intended to limit the invention creation, it is all at this
Within the spirit and principle of innovation and creation, any modification, equivalent substitution and improvements made etc., the invention should be included in
Protection domain within.
Claims (10)
- The independent suspension device of 1.Mecanum wheels, it is characterised in that：Including pedestal (1), wheel motor (2) and hydro-pneumatic spring (6), the wheel motor (2) includes bidirectional variable hydraulic motor (19), and the wheel motor (2) is taken turns installed in Mecanum (3) On, drive Mecanum wheels to rotate by the wheel motor (2), the Mecanum wheels are arranged on pedestal (1), the pedestal (1) One end is arranged on vehicle frame (5) by axis of rotation, and described hydro-pneumatic spring (6) one end is hinged on pedestal (1) other end, the oil gas Spring (6) other end is hinged on vehicle frame (5), and two jointed shaft axis, the shaft axis are put down with Mecanum wheels axis respectively Row is set.
- 2. the independent suspension device of Mecanum wheels according to claim 1, it is characterised in that：The rotating shaft and vehicle frame (5) Between be provided with bearing.
- 3. the independent suspension device of Mecanum wheels according to claim 2, it is characterised in that：The bearing rolls for circular cone Sub- bearing.
- 4. the independent suspension device of Mecanum wheels according to claim 1, it is characterised in that：The bidirectional variable hydraulic pressure Motor (19) is bidirectional variable piston motor.
- 5. applied to the closed type hydraulic system of any one of 1-4 Mecanum described in claim independent suspension devices taken turns, its feature It is：Including bidirectional variable hydraulic pump (11), two-position four-way coasting valve (8), bidirectional variable hydraulic motor (19) and repairing structure； Wherein：(19) oil inlets of an oil-out and bidirectional variable hydraulic motor of the bidirectional variable hydraulic pump (11) pass through One oil pipe (16) connects, another oil-out and bidirectional variable hydraulic motor (19) of the bidirectional variable hydraulic pump (11) another Oil inlet is connected by the second oil pipe (17)；Two-position four-way coasting valve (8) oil inlet connects with fuel tank (9) respectively with oil return opening, the two-position four-way coasting valve (8) Work (19) oil inlets of A mouths and bidirectional variable hydraulic motor connect, and its work B mouths and bidirectional variable hydraulic motor (19) are another One oil inlet connection；The repairing structure connects with two oil inlets of bidirectional variable hydraulic motor (19), for giving bidirectional variable hydraulic motor (19) hydraulic oil is supplemented.
- 6. closed type hydraulic system according to claim 5, it is characterised in that：The closed type hydraulic system also includes two the One overflow relief valve (14), two first overflow relief valves (14) are connected in bidirectional variable hydraulic motor (19) two in parallel Between oil inlet, and two the first overflow relief valve (14) uninstall directions are opposite.
- 7. closed type hydraulic system according to claim 5, it is characterised in that：The repairing structure includes unidirectionally quantifying repairing Pump (13) and two check valves (15), this unidirectionally quantifies slippage pump (13) and bidirectional variable hydraulic pump (11) by axis connection, should Unidirectionally quantify slippage pump (13) oil inlet to connect with fuel tank (9), this unidirectionally quantifies slippage pump (13) oil-out and two check valves (15) oil inlet is respectively communicated with, (19) inlets of liquid outlet and bidirectional variable hydraulic motor of one of check valve (15) Connection, another inlet connects the liquid outlet of another check valve (15) with bidirectional variable hydraulic motor (19).
- 8. closed type hydraulic system according to claim 7, it is characterised in that：It is described unidirectionally to quantify slippage pump (13) oil inlet Filter is provided between fuel tank (9).
- 9. closed type hydraulic system according to claim 7, it is characterised in that：It is described unidirectionally to quantify slippage pump (13) and two The second overflow valve (18) is provided between check valve (15).
- 10. closed type hydraulic system according to claim 5, it is characterised in that：The closed type hydraulic system also includes two three Logical flushing valve (7), oil inlet and the first oil pipe (16) connection of the two-position three way flushing valve (7), the two-position three way flushing valve (7) Oil-out and the second oil pipe (17) connection, the A hydraulic fluid ports of the two-position three way flushing valve (7) connect with fuel tank (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106092.1A CN107696813A (en) | 2017-11-10 | 2017-11-10 | The independent suspension device and closed type hydraulic system of Mecanum wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106092.1A CN107696813A (en) | 2017-11-10 | 2017-11-10 | The independent suspension device and closed type hydraulic system of Mecanum wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696813A true CN107696813A (en) | 2018-02-16 |
Family
ID=61179139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711106092.1A Pending CN107696813A (en) | 2017-11-10 | 2017-11-10 | The independent suspension device and closed type hydraulic system of Mecanum wheels |
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| Country | Link |
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| CN (1) | CN107696813A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398012A (en) * | 2018-09-03 | 2019-03-01 | 精锐动力科技(深圳)有限公司 | A kind of shock-absorbing driving structure and walking robot |
| CN110077185A (en) * | 2019-04-02 | 2019-08-02 | 东南大学 | A kind of mating Mecanum wheel movement transmission lever type single longitudenal arm independent suspension |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH111171A (en) * | 1997-06-13 | 1999-01-06 | Komatsu Ltd | Emergency hydraulic steering system for hydraulic self-propelled vehicle |
| CN201376494Y (en) * | 2009-04-14 | 2010-01-06 | 东北农业大学 | Hydraulic system for double power flow tracked vehicle |
| US20140232174A1 (en) * | 2011-09-23 | 2014-08-21 | Omniroll Ag | Mecanum wheel and mecanum-wheeled vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398012A (en) * | 2018-09-03 | 2019-03-01 | 精锐动力科技(深圳)有限公司 | A kind of shock-absorbing driving structure and walking robot |
| CN110077185A (en) * | 2019-04-02 | 2019-08-02 | 东南大学 | A kind of mating Mecanum wheel movement transmission lever type single longitudenal arm independent suspension |
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