CN107989946A - Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car - Google Patents
Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car Download PDFInfo
- Publication number
- CN107989946A CN107989946A CN201711451817.0A CN201711451817A CN107989946A CN 107989946 A CN107989946 A CN 107989946A CN 201711451817 A CN201711451817 A CN 201711451817A CN 107989946 A CN107989946 A CN 107989946A
- Authority
- CN
- China
- Prior art keywords
- wheel
- piston rod
- damping
- steering
- cylinder barrel
- 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
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/06—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid
- F16F9/061—Mono-tubular units
-
- 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
- B60G11/27—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs wherein the fluid is a gas
-
- 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
- B60G17/052—Pneumatic spring characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/06—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid
- F16F9/063—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid comprising a hollow piston rod
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/3207—Constructional features
- F16F9/3221—Constructional features of piston rods
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/3207—Constructional features
- F16F9/3228—Constructional features of connections between pistons and piston rods
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
- F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
- F16F9/5123—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity responsive to the static or steady-state load on the damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- 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
Abstract
The present invention provides a kind of hydro-pneumatic spring, is configured with the wheel steering mechanism of the hydro-pneumatic spring, is configured with the wheel of the wheel steering mechanism and uses the electric car of the wheel, which includes oil cylinder, guiding axis, damping sheet and floating piston；Oil cylinder includes cylinder barrel and piston rod that is hollow and being turned on cylinder barrel oil pocket, and guiding axis is coaxially fixed at the top of cylinder barrel and bottom is extended in the inner cavity of piston rod；Damping sheet is slidedly arranged in the inner cavity of piston rod and affixed with guiding axis bottom, and damping oil passing passage is provided with damping sheet；Floating piston is slidedly arranged in the inner cavity of piston rod and below damping sheet, and piston rod cavity is divided into top grease chamber and lower section gas chamber.Pass through the compartmentation of floating piston and the damping action of damping sheet, and based on compression of the relative motion between piston rod and cylinder barrel to gas chamber or expansion effect, it can ensure that preferable elastic damping effect can be played in vehicle operation, improve the handling stability of vehicle.
Description
Technical field
The invention belongs to automobile technical field, is to be related to a kind of hydro-pneumatic spring, be configured with the hydro-pneumatic spring more specifically
Wheel steering mechanism, be configured with the wheel steering mechanism wheel and using the wheel electric car.
Background technology
In the steering of existing wheeled vehicle between left and right turn wheel using track rod mechanically connect so as to
So-called " steering trapezium " is formed, along with the restriction of the guiding mechanism of the suspension system of existing wheeled vehicle, general vehicle can be real
Now conventional Turning travel, but can not achieve each wheel around pivot stud, each wheel of vehicle center pure rolling all turn 90 ° realize it is lateral
Translation and the whole phase inversions of each wheel realize the driving modes such as oblique translation with steering angle, so as to limit mobility.
Pivot stud is all designed to certain introversion and hypsokinesis and has certain steering offset by existing wheeled vehicle,
Purpose be in order to obtain the self-aligning ability of low speed and high speed, but also just bring at the same time steering drag increase, tire wear increase
Greatly, the drawback such as deflecting roller occupied space increase.
In addition, vehicle can produce centrifugal force when along various curved path turning drivings, ground can produce centripetal in face of each wheel
Power, can produce side drift angle in tire rolling under centripetal force effect, and the size of side drift angle and tire stiffness, tire pressure,
Tire normal load is related, these factors are taken into account, then each wheel has a new actual motion direction line, it and car
The deviation for taking turns plane is exactly slip angle of tire.Since the generation of slip angle of tire can make tire produce lateral sliding wear with ground, and
Influence handling stability.
The content of the invention
The present invention provides a kind of hydro-pneumatic spring, is configured with the wheel steering mechanism of the hydro-pneumatic spring, is configured with the wheel turn
Wheel to mechanism and the electric car using the wheel, can at least solve segmental defect existing in the prior art.
To achieve the above object, the technical solution adopted by the present invention is：A kind of hydro-pneumatic spring, including oil cylinder, guiding are provided
Axis, damping sheet and floating piston；
The oil cylinder includes cylinder barrel and hollow piston rod, and the piston rod top is slidedly arranged in the cylinder barrel and bottom is located at institute
State outside cylinder barrel, the piston rod cavity is turned on the cylinder barrel oil pocket by being opened in the oil-through hole on the piston rod top；
The guiding axis is coaxially fixed at the top of the cylinder barrel and bottom is extended in the inner cavity of the piston rod；The damping sheet is embedding
Dress is slidedly arranged in the inner cavity of the piston rod and affixed with the guiding axis bottom, in being provided with damping oil passing on the damping sheet
Passage；
The floating piston is slidedly arranged in the inner cavity of the piston rod and below the damping sheet, and by the piston rod
Inner cavity is divided into top grease chamber and lower section gas chamber.
As one of embodiment, the damping oil passing passage includes the compression damping hole being opened on the damping sheet and stretches
Damping hole is opened, the compression damping hole is configured with for controlling first unidirectionally controlled list of its excessively oily direction for direction from top to bottom
Member, the damping hole of upholding are configured with for controlling second unidirectionally controlled unit of its excessively oily direction for direction from bottom to top.
As one of embodiment, the first unidirectionally controlled unit includes installing in first on the damping sheet lower surface
Elastic cover plate, the second unidirectionally controlled unit includes installing in the second elastic cover plate on the damping sheet upper surface, described
First elastic cover plate and second elastic cover plate fitting parallel with the plate face of the damping sheet and it is covered each by corresponding resistance
Buddhist nun hole.
As one of embodiment, the aperture in the compression damping hole is more than the aperture of the extension damping hole.
The present invention also provides a kind of steering mechanism of wheel, including hydro-pneumatic spring as described above, wherein, the guiding axis
It is connected for splined shaft and with piston rod top spline, the splined shaft is arranged on the cylinder barrel and its top is connected with use
In drive its around the rotating driving unit of own axes.
As one of embodiment, the driving unit includes driving motor, steering gear worm and steering screw, the steering snail
Wheel is coaxially socketed with the splined shaft, and the steering screw engages with the steering gear worm and is connected with the driving motor.
As one of embodiment, the splined shaft is also associated with steering angle sensor.
The present invention also provides a kind of wheel, including wheel body, axletree and axle block, the axletree is installed on the wheel
It is connected on axle bed and with the wheel body, further includes the steering mechanism of wheel as described above；
The axle block is L-shaped, including for the vertical section with the wheel axis connection and is connected to the vertical section top
And the horizontal segment extended towards direction outside car body, the bottom of the piston rod and the top of the horizontal segment are connected.
The present invention also provides a kind of electric car, including car body and multiple wheels, and each wheel is using as described above
Wheel, each wheel are each equipped with wheel hub motor, the rotor of the wheel hub motor be set on the corresponding axletree and
Connected with the corresponding wheel body, stator casing is abutted with the corresponding vertical section.
As one of embodiment, lateral force sensors are equipped with each vertical section, the lateral force sensors are located at
The vertical section with the stator casing against abutment face on.
The beneficial effects of the present invention are：
Hydro-pneumatic spring provided by the invention, by the compartmentation of floating piston and the damping action of damping sheet, and based on work
Compression or expansion effect of the relative motion to gas chamber between stopper rod and cylinder barrel, it is ensured that can be risen in vehicle operation
To preferable elastic damping effect so that vehicle can be applicable in different road conditions, improve the handling stability of vehicle.
The steering mechanism of wheel provided by the invention, the function of hydro-pneumatic spring is combined as a whole with turning function, is passed through
It is arranged in the splined shaft at the top of oil cylinder and drives the rotation of piston rod spline housing, in the case where ensureing the basic function of hydro-pneumatic spring,
The steering of wheel can be also realized, so as to effectively improve the operability of vehicle；The piston rod in the bounce of suspension system total travel
Spline housing can reliably drive piston rod rotation to control appointing for wheel without influencing suspension system bounce, the steering mechanism
Angle of anticipating rotation turns to, so as to ensure that vehicle can be realized around vehicle center original place any angle according to the needs of various driving cycles
Rotate the functions such as steering, lateral translation, oblique translation, the various speed Turning travels of highway.Based on the steering mechanism of above-mentioned wheel,
There is no the mechanical connection for turning to straight and horizontal adjusting rod between each wheel of vehicle, without the mechanical connection of transmission system, thus have yet
There are preferable passability and mobility.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in embodiment or description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram of wheel provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of Vehicular turn provided in an embodiment of the present invention traveling；
Fig. 3 is the schematic diagram of vehicle lateral translation provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of the oblique translation of vehicle provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram that vehicle provided in an embodiment of the present invention is travelled around this car zero turn radius；
Fig. 6 is the structure diagram of steering wheel provided in an embodiment of the present invention.
Embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, below in conjunction with attached
Figure and embodiment, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
Explain the present invention, be not intended to limit the present invention.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
In the description of the present invention, it is to be understood that term " " center ", " length ", " width ", " thickness ", " on ",
" under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", the orientation or position of the instruction such as " outer "
Relation is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, without referring to
Show or imply that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore cannot manage
Solve as limitation of the present invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
The interaction relationship of connection or two elements inside two elements.For the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Embodiment one
Such as Fig. 1, the present embodiment provides a kind of hydro-pneumatic spring, including oil cylinder, guiding axis 3, damping sheet 4 and floating piston 5；
The oil cylinder includes cylinder barrel 1 and hollow piston rod 2, and 2 top of piston rod is slidedly arranged in the cylinder barrel 1 and bottom position
In outside the cylinder barrel 1,2 inner cavity of piston rod and 1 oil pocket of cylinder barrel are by being opened in the oil-through hole on 2 top of piston rod
Conducting；
The guiding axis 3 is coaxially fixed on the top of cylinder barrel 1 and bottom is extended in the inner cavity of the piston rod 2；The damping
Plate 4 is embedded in and is slidedly arranged in the inner cavity of the piston rod 2 and affixed with 3 bottom of guiding axis, is provided with the damping sheet 4
Damping oil passing passage；
The floating piston 5 is slidedly arranged in the inner cavity of the piston rod 2 and positioned at the lower section of the damping sheet 4, and by the piston
The inner cavity of bar 2 is divided into top grease chamber and lower section gas chamber.
In above-mentioned hydro-pneumatic spring, damping sheet 4 can produce damping action to the pressure oil passed through, meanwhile, it can be to work
The downward storke of stopper rod 2 is defined, and 2 top of piston rod can be blocked in 2 downlink of piston rod, avoids piston rod 2 from skidding off cylinder barrel
1.It is further preferred that such as Fig. 1, the damping oil passing passage includes 41 He of compression damping hole being opened on the damping sheet 4
Uphold damping hole 42, the compression damping hole 41 is configured with for controlling its excessively oily direction as the first unidirectional of direction from top to bottom
Control unit, the damping hole 42 of upholding are configured with for controlling its excessively oily direction as the second unidirectionally controlled of direction from bottom to top
Unit.The pressure oil that direction on self-damping plate 4 is flowed through in above-mentioned compression damping hole 41 below produces damping action, above-mentioned extension
The pressure oil that damping hole 42 just flows through 4 times directions of self-damping plate thereon produces damping action, ensures piston rod 2 relative to cylinder barrel
Preferable damping action can be played during 1 upstream or downstream.Compressed air is filled with the gas chamber of the above-mentioned lower section of floating piston 5, is made
The medium of elastic performance is produced for hydro-pneumatic spring.Specifically：
When wheel runs into bump, piston rod 2 moves upwards with respect to cylinder barrel 1, namely relative to guiding axis 3 and damping sheet 4
Movement upwards, damping sheet 4 reduce with 5 spacing of floating piston, and pressure oil therebetween promotes floating piston 5 to move downward, and floats
The compressed air of the lower section of piston 5 is further compressed, so as to produce elastic reaction；Since floating piston 5 down moves, float
The pressure oil of the top of piston 5 then flow down, the pressure oil of the top of piston rod 2 can be by the oil-through holes on 2 top of piston rod down
Flowing, the pressure oil of the top of damping sheet 4 can be by 41 flow down of compression damping hole on damping sheet 4, i.e. generation during this
Compression damping power；
When wheel runs into pothole, piston rod 2 is moved downward with respect to cylinder barrel 1, namely relative to guiding axis 3 and damping sheet 4
Move downward, damping sheet 4 increases with 5 spacing of floating piston, and the compressed air of the lower section of floating piston 5 then expands, and promotes to float and lives
Plug 5 up moves, so as to produce elastic reaction；The pressure oil of the top of floating piston 5 then up flows, in 2 inner cavity of piston rod
Pressure oil can up be flowed by the oil-through hole on 2 top of piston rod, and the pressure oil of the lower section of damping sheet 4 can be by damping sheet 4
Uphold damping hole 42 up to flow, produce during this and uphold damping force.
As it can be seen that hydro-pneumatic spring provided in this embodiment, is made by the damping of the compartmentation and damping sheet 4 of floating piston 5
With, and based on compression of the relative motion between piston rod 2 and cylinder barrel 1 to gas chamber or expansion effect, it is ensured that in vehicle
Preferable elastic damping effect can be played in operational process so that vehicle can be applicable in different road conditions, improve the behaviour of vehicle
Stability.In addition, above-mentioned guiding axis 3 can also be oriented to the vertical sliding motion of piston rod 2, ensure the working stability of wheel
Property.
Above-mentioned first unidirectionally controlled unit and the second unidirectionally controlled unit play the role of check valve, are easy-to-understand to, two
Person can use the check valve with certain Opening pressure threshold value, and in preferred embodiment provided in this embodiment, such as Fig. 1,
The first unidirectionally controlled unit includes installing in the first elastic cover plate 43 on 4 lower surface of damping sheet, and described second is single
Include installing in the second elastic cover plate 44 on 4 upper surface of damping sheet, the described first 43 He of elastic cover plate to control unit
Described second elastic cover plate 44 is parallel with the plate face of the damping sheet 4 to be bonded and is covered each by corresponding damping hole.By upper
Certain Opening pressure threshold value can be provided by stating the elastic reaction of elastic cover plate, while can play the work that control pressure oil unidirectionally passes through
With；When the pressure of the pressure oil of respective side is more than the Opening pressure threshold value, pressure oil can push the elasticity cover plate open.It is further excellent
Selection of land, the aperture in the compression damping hole 41 are more than the aperture of the extension damping hole 42, i.e. control upholds damping force than compression
Damping force is big, ensures handling stability of the vehicle under each road conditions.Such as Fig. 1, two elastic cover plates can be bolted on the damping sheet 4
On.
Further, such as Fig. 1, the piston rod that low-friction coefficient high abrasion is embedded with the lateral wall at the top of piston rod 2 is held
Pressing sleeve 23, piston rod pressure-bearing set 23, which corresponds to, to be pushed against on the internal ring wall of cylinder barrel 1, is embedded on the inner ring wall of 1 bottom of cylinder barrel
There is the cylinder barrel pressure-bearing set 11 of low-friction coefficient high abrasion, cylinder barrel pressure-bearing set 11, which corresponds to, to be pushed against on the lateral wall of piston rod 2,
When wheel is subject to the longitudinal force and lateral force that ground is transmitted, above-mentioned piston rod pressure-bearing set 23 and cylinder barrel pressure-bearing set 11 bear footpath
Xiang Li, ensures the service life and functional reliability of equipment.Oil sealing is additionally provided with the inner ring wall of 1 bottom of cylinder barrel, to prevent
Pressure oil leaks, which is preferably located at the lower section of above-mentioned cylinder barrel pressure-bearing set 11, more preferably close to the cylinder barrel pressure-bearing
Set 11；In addition, dirt-proof boot is additionally provided with the inner ring wall of 1 bottom of cylinder barrel, to prevent that muddy water dust enters cylinder outside oil cylinder
Interior, which is preferably the lower section for being arranged at corresponding oil sealing.
Further, oil sealing is embedded with the lateral wall of above-mentioned floating piston 5, to separate pressure oil and compressed air,
Pressure oil is avoided to gas chamber internal leakage.It is easy-to-understand to, the bottom of above-mentioned piston rod 2 is that closing is set, to prevent that compression is empty
Gas leakage, it can be integrated formed structure or the knot being removably fixed with using seat 21 under piston rod with the piston rod 2
Structure, the cavity of the piston rod 2 is blocked by seat 21 under the piston rod, namely blocks the gas chamber, seat 21 and piston rod 2 under piston rod
It can be connected by bolt etc., sealing gland circle 25 can be set on the two contact surface, with the air-tightness of the two connection of enhancing.
Preferably, charge valve is equipped with the bottom of above-mentioned piston rod 2, for filling compressed air into gas chamber to specified pressure
Power；For the above-mentioned structure using seat under piston rod 21, which is arranged under the piston rod on seat 21.In floating piston
5 are equipped with fuel feeding valve, for filling pressure oil in grease chamber upward.
Embodiment two
Such as Fig. 1, the embodiment of the present invention provides a kind of steering mechanism of wheel, including the oil gas bullet that above-described embodiment one is provided
Spring, wherein, the guiding axis 3 is connected for splined shaft 3 and with the 2 top spline of piston rod, i.e., is set on 2 top of piston rod
Piston rod spline housing 22, the splined shaft 3 is arranged on the cylinder barrel 1 and its top is connected with for driving it around own axes
Rotating driving unit.
Continue the steering mechanism of above-mentioned wheel, such as Fig. 1, and the driving unit includes driving motor 61,63 and of steering gear worm
Steering screw 62, the steering gear worm 63 are coaxially socketed with the splined shaft 3, the steering screw 62 and the steering gear worm 63
Engage and be connected with the driving motor 61.Since driving motor 61 is to control car by steering screw 62 and steering gear worm 63
Rotate to, and because worm screw have certain self-locking to worm gear, therefore can offset ground face wheel steering interference.
Further, as Fig. 1, the splined shaft 3 are also associated with steering angle sensor 64.The steering angle sensor 64 can be to
Vehicle control system feeds back the steering angle information of wheel, and under the coordination of control system, steering will make wheel according in due course
Direction of motion angle and the cornering behavior of tire determine the steering angle of the wheel, can maximum limit so as to obtain excellent handling stability
Degree reduces the abrasion of tire.Such as Fig. 1, above-mentioned driving motor 61 and steering angle sensor 64 are preferably the top for being arranged at cylinder barrel 1,
Structure is relatively simple.
The steering mechanism of wheel provided in this embodiment, the function of hydro-pneumatic spring is combined as a whole with turning function, is led to
Crossing the splined shaft 3 being arranged at the top of oil cylinder drives piston rod spline housing 22 to rotate, in the feelings for the basic function for ensureing hydro-pneumatic spring
Under condition, the steering of wheel can be also realized, so as to effectively improve the operability of vehicle；It is living in the bounce of suspension system total travel
Stopper rod spline housing 22 can reliably drive piston rod 2 to rotate without influencing suspension system bounce, which can control
The Arbitrary Rotation of wheel turns to, so as to ensure that vehicle can be realized around vehicle center original place according to the needs of various driving cycles
The functions such as Arbitrary Rotation steering, lateral translation, oblique translation, the various speed Turning travels of highway.Based on above-mentioned wheel
Steering mechanism, does not have the mechanical connection for turning to straight and horizontal adjusting rod between each wheel of vehicle, also without transmission system machinery even
Connect, thus there is preferable passability and mobility.In addition, above-mentioned splined shaft 3 can also be to the vertical sliding motion of piston rod 2
It is oriented to, ensures the job stability of wheel.
Embodiment three
Such as Fig. 1, the present invention also provides a kind of wheel, including wheel body 73, axletree 72 and axle block 71, the axletree 72 is pacified
Loaded on being connected on the axle block 71 and with the wheel body 73, turning for the wheel that above-described embodiment two is provided is additionally included
To mechanism.
The axle block 71 includes the vertical section 712 for being connected with the axletree 72 and is connected to the vertical section
712 tops and the horizontal segment 711 extended towards direction outside car body, the bottom of the piston rod 2 and the top of the horizontal segment 711 are consolidated
Even.Preferably, above-mentioned vertical section 712 and horizontal segment 711 use disc-shaped structure；In above-mentioned seat 21 under being provided with piston rod
Embodiment in, seat 21 and the horizontal segment 711 are connected under the piston rod, such as pass through bolt connection.More preferably in institute
The bottom for stating piston rod 2 is equipped with vertical load sensor 24, which is electrically connected with vehicle control system,
It is to believe the vertical load that can detect one of vertical load, its function suffered by wheel in real time by the vertical load sensor 24
Breath is supplied to vehicle control system, to resolve slip angle of tire, so as to more accurately improve the handling stability of vehicle.
In the structure of above-mentioned axle block 71, it is easy-to-understand to, its vertical section 712 is disposed on the close bottom of wheel body 73
The side of disk/and away from the side outside car body, it is the both sides that tire is relatively separately positioned on wheel rim 731 in other words.
It is further preferred that such as Fig. 1, which further includes wheel hub motor 8, and the rotor 82 of the wheel hub motor 8 is set in
It is connected on the axletree 72 and with the wheel body 73, stator casing 81 is abutted with the vertical section 712.The present embodiment passes through
Wheel hub motor 8 carries out independent driving to wheel, can preferably match excellent handling possessed by above-mentioned steering mechanism,
Meet the vehicle wheel rotational speed demand under various road conditions in real time, wheel without sliding wear and has good handling stability in ground pure rolling, protects
Card vehicle has excellent harmony, stability and handling.It is easy-to-understand to, the wheel hub motor 8 and vehicle control system
It is electrically connected.
It is further preferred that such as Fig. 1, lateral force sensors 74, the lateral force sensing are equipped with the vertical section 712
Device 74 be located at the vertical section 712 with the stator casing 81 against abutment face on；The lateral force sensors 74 and vehicle
Control system is electrically connected, and lateral force suffered by wheel can be detected in real time by the lateral force sensors 74, to improve wheel/car
Handling stability.Such as：When the steering angle of wheel is improper, cause the line of the wheel center and vehicle Instantaneous center with should
The actual motion direction line out of plumb of wheel, and make it that the wheel produces lateral sliding wear with ground, and influence handling stability；At this moment should
Wheel produces extra lateral force and is detected and fed back to by the lateral force sensors 74 in the vertical section 712 of above-mentioned axle block 71
Vehicle control system, the steering angle that vehicle control system then adjusts the wheel eliminate lateral force extra suffered by the wheel；This
Tire wear will be further reduced in one closed-loop control measure, improves handling stability.
Example IV
The present embodiment provides a kind of electric car, it includes multiple（Preferably 4 or more than 4）What above-described embodiment three was provided
Wheel, each wheel use the above-mentioned wheel for being configured with wheel hub motor 8.
The power source of above-mentioned electric car can be diesel engine, drive electrical power generators to charge a battery by diesel engine, store
Battery is the power supply such as each motor of full car, electric appliance.Certainly, it is all suitable in this present embodiment as power source using energy such as gasoline.
The running gear of the electric car is driven respectively for each wheel by the wheel hub motor 8 of itself, wheel rotary rpm root
Determined according to accelerator pedal position information, driving speed information, steering mode information etc. by control system.
The suspension system of the electric car is using the oil cylinder center line of above-mentioned hydro-pneumatic spring as pivot stud line.
In driving procedure, steering order device can be manipulated by steering wheel 9 by driver.Steering wheel 9 is equipped with return spring,
When unclamping steering wheel 9 after driver manipulates steering by steering wheel 9, steering wheel 9 can automatically return to in-line position.The steering refers to
Device is made to send the rotation that instruction directly controls vehicle the near front wheel steering motor, so that directly controlling the steering angle of vehicle the near front wheel makes
The near front wheel steering angle remains consistent with the steering angle of steering order device；Other steering angles respectively taken turns are by vehicle control system
Calculated and determined according to the value of the near front wheel steering angle.Three steering pattern select buttons are provided with steering wheel 9, as shown in fig. 6, point
Not Wei " routine ", " rotating in place ", " translation " for driver select.Vehicle control system according to the selected button of driver and
The value of the near front wheel steering angle come coordinate determine other steering angles respectively taken turns so that respectively realize " conventional highway Turning travel ", " around
Vehicle center original place Arbitrary Rotation steering ", " lateral translation or oblique translation ".Vehicle control system is according to selected by driver
Steering mode select button information, 9 corner information of steering wheel, accelerator pedal position information, vehicle speed information, each rotation selected
The feedback information of speed, each wheel steering angle feedback information, each wheel vertical load information, lateral force information is definite to calculate suffered by each wheel
The rotating speed respectively taken turns, the steering angle respectively taken turns.Information transmission is completed by vehicle CAN bus.
Embodiment five
Below by taking carriage as an example, the drive manner of electric car provided in this embodiment is illustrated；More than the wheel hub of four-wheel
The electric car situation that motor 8 drives is similar.
Vehicle is selected steering mode button and manipulates steering wheel 9 to select travel route by driver in steering wheel 9.Work as vehicle
On normal road with a certain speed along Road turnings when driving, driver selects " routine " steering mode button in steering wheel 9
And manipulate steering wheel 9 and control the left front a certain steering angle of rotation, vehicle control system just can determine that the Instantaneous center of vehicle.Such as
Shown in Fig. 2, which respectively has a line to 4 wheel centers.If without considering actual motion of the cornering stiffness to each wheel of tire
The influence that deflection produces, under the coordination of vehicle control system, 4 wheels turn different steering angles respectively, make each wheel
The line of center and vehicle Instantaneous center perpendicular to the wheel plane, and each wheel center with vehicle transient motion
The distance between heart is also directly proportional to the wheel speed, this is with regard to that can make vehicle respectively be taken turns when along various curve turning drivings on ground
Pure rolling is without sliding wear.But in actual travel, vehicle can produce centrifugal force when along various curve turning drivings；Ground faces each wheel meeting
Centripetal force is produced, the size and tire stiffness, wheel of side drift angle and side drift angle can be produced in tire rolling under centripetal force effect
Air pressure, tire normal load are related.These factors are taken into account, under the coordination of vehicle control system, 4 wheel difference
Turn different steering angles, make the line of each wheel center and vehicle Instantaneous center perpendicular to the actual motion side of the wheel
To line, and the distance between each wheel center and vehicle Instantaneous center are also directlyed proportional to the wheel speed, with regard to that can make car
When at various speeds along various curve turning drivings, respectively take turns without sliding wear and has good handling stability in ground pure rolling.
When the steering angle of some wheel is improper, the line of the wheel center for making it and vehicle Instantaneous center is not orthogonal to the car
The actual motion direction line of wheel and cause the wheel and ground to produce lateral sliding wear, and influence handling stability；At this moment the wheel produces
Extra lateral force, this extra lateral force can be detected by the lateral force sensors 74 in axle block 71 and feed back to vehicle
Control system, the steering angle that vehicle control system then adjusts the wheel eliminate the extra lateral force of the wheel.This closed-loop control is arranged
Apply and tire wear will be further reduced, improve handling stability.
When vehicle in roadside or parking lot when in pool, if front and rear be close to other vehicles or barrier, for general
Vehicle is difficult to roll away from, and is just easier to operate for vehicle provided by the invention, and driver need to only select " flat in steering wheel 9
Move " steering mode button and manipulate steering wheel 9 and control 90 ° of angles of left front rotation, 4 wheels point under the coordination of vehicle control system
Not all phase inversion with 90 ° of steering angles, as shown in Figure 3, vehicle just can lateral translation roll away from, each wheel speed is also consistent at this time.
Also can be as shown in figure 4, when vehicle to be in narrow street travel, driver only need to select " to translate " in steering wheel 9 to be turned
To mode button and manipulate steering wheel 9 and control a certain angle of left front rotation, 4 wheels are at the same time under the coordination of vehicle control system
Turn a certain angle and carry out oblique translation to avoid traveling in narrow street.Each wheel speed is also consistent at this time.
As shown in figure 5, when needing vehicle around vehicle center 180 degree pivot turn or turn over a certain angle again when driving, first
Brake allows car to stop, and driver only need to select " rotating in place " steering mode button in steering wheel 9, unclamp steering wheel 9.In vehicle
Under the coordination of control system, 4 wheels turn different steering angles respectively, make each wheel center vertical with the line of vehicle center
In the wheel plane；It is bright that each wheel steering angle is adjusted in place rear indicator light, and driver's releasing of brake pedal is stepped on the throttle pedal, vehicle
Start to rotate in place around vehicle center, and each wheel speed is also directly proportional to the distance of vehicle center with the wheel center, during
Respectively take turns all in ground pure rolling without sliding wear.To then u-turn or turn how many angle, the time depending on rotation lasts.When turning over
Driver's release gas pedal steps on brake pedal and terminates to rotate in place during the angle needed.The other steering modes of reselection are pressed
Button, manipulates steering wheel 9 and continues to travel.Under the coordination of vehicle control system, 4 wheels adjust its turn according to new steering mode
To angle.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. hydro-pneumatic spring, it is characterised in that：Including oil cylinder, guiding axis, damping sheet and floating piston；The oil cylinder includes cylinder barrel and hollow piston rod, and the piston rod top is slidedly arranged in the cylinder barrel and bottom is located at institute State outside cylinder barrel, the piston rod cavity is turned on the cylinder barrel oil pocket by being opened in the oil-through hole on the piston rod top；The guiding axis is coaxially fixed at the top of the cylinder barrel and bottom is extended in the inner cavity of the piston rod；The damping sheet is embedding Dress is slidedly arranged in the inner cavity of the piston rod and affixed with the guiding axis bottom, in being provided with damping oil passing on the damping sheet Passage；The floating piston is slidedly arranged in the inner cavity of the piston rod and below the damping sheet, and by the piston rod Inner cavity is divided into top grease chamber and lower section gas chamber.
- 2. hydro-pneumatic spring as claimed in claim 1, it is characterised in that：The damping oil passing passage includes being opened in the damping Compression damping hole and extension damping hole on plate, the compression damping hole are configured with for controlling its excessively oily direction as from top to bottom The first unidirectionally controlled unit in direction, it is direction from bottom to top that the extension damping hole, which is configured with for controlling its excessively oily direction, Second unidirectionally controlled unit.
- 3. hydro-pneumatic spring as claimed in claim 2, it is characterised in that：The first unidirectionally controlled unit includes installing in described The first elastic cover plate on damping sheet lower surface, the second unidirectionally controlled unit include installing on the damping sheet upper surface The second elastic cover plate, the described first elastic cover plate and second elastic cover plate parallel fitting with the plate face of the damping sheet And it is covered each by corresponding damping hole.
- 4. hydro-pneumatic spring as claimed in claim 2, it is characterised in that：The aperture in the compression damping hole is more than described uphold and hinders The aperture in Buddhist nun hole.
- A kind of 5. steering mechanism of wheel, it is characterised in that：Including hydro-pneumatic spring according to any one of claims 1 to 4, Wherein, the guiding axis is connected for splined shaft and with piston rod top spline, and the splined shaft is arranged on the cylinder barrel And its top is connected with for driving it around the rotating driving unit of own axes.
- 6. the steering mechanism of wheel as claimed in claim 5, it is characterised in that：The driving unit includes driving motor, turns To worm gear and steering screw, the steering gear worm is coaxially socketed with the splined shaft, the steering screw and the steering gear worm Engage and be connected with the driving motor.
- 7. the steering mechanism of wheel as claimed in claim 5, it is characterised in that：The splined shaft is also associated with steering angle sensing Device.
- 8. a kind of wheel, including wheel body, axletree and axle block, the axletree be installed on the axle block and with it is described Wheel body connects, it is characterised in that：Further include the steering mechanism of the wheel as any one of claim 5 to 7；The axle block is L-shaped, including for the vertical section with the wheel axis connection and is connected to the vertical section top And the horizontal segment extended towards direction outside car body, the bottom of the piston rod and the top of the horizontal segment are connected.
- 9. a kind of electric car, including car body and multiple wheels, it is characterised in that：Each wheel is used such as claim 8 institute The wheel stated；Each wheel is each equipped with wheel hub motor, the rotor of the wheel hub motor be set on the corresponding axletree and with The corresponding wheel body connection, stator casing are abutted with the corresponding vertical section.
- 10. electric car as claimed in claim 9, it is characterised in that：Lateral force sensors are equipped with each vertical section, institute State that lateral force sensors are located at the vertical section with the stator casing against abutment face on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451817.0A CN107989946A (en) | 2017-12-28 | 2017-12-28 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451817.0A CN107989946A (en) | 2017-12-28 | 2017-12-28 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107989946A true CN107989946A (en) | 2018-05-04 |
Family
ID=62041482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711451817.0A Pending CN107989946A (en) | 2017-12-28 | 2017-12-28 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107989946A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774787A (en) * | 2019-03-29 | 2019-05-21 | 广东机电职业技术学院 | A kind of wheel drive mechanism and the electric car including the mechanism |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB554983A (en) * | 1942-01-23 | 1943-07-28 | Ribbesford Company Ltd | Improvements in or relating to liquid damped telescopic shock absorbers |
| JP2007271065A (en) * | 2006-03-31 | 2007-10-18 | Hitachi Ltd | Hydraulic shock absorber |
| CN101648573A (en) * | 2009-08-31 | 2010-02-17 | 吉林大学 | Automobile traveling mechanism with wheel hub comprehensively drive and turning |
| CN101817308A (en) * | 2010-01-21 | 2010-09-01 | 上海大学 | Differential all-directional wheel device |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102518730A (en) * | 2011-12-31 | 2012-06-27 | 张洪领 | Inflatable vibration damper |
| CN103122962A (en) * | 2011-11-21 | 2013-05-29 | 长春孔辉汽车科技有限公司 | Light steerable hydro-pneumatic spring |
| CN105673760A (en) * | 2016-03-07 | 2016-06-15 | 江苏大学 | Piezoelectric self-sensing based adjustable damper |
| CN106114614A (en) * | 2016-08-26 | 2016-11-16 | 吉林大学 | A kind of controlled hydraulic locking type left and right wheels independent steering gear |
| CN205706845U (en) * | 2016-06-06 | 2016-11-23 | 安徽工程大学 | A kind of four wheels of electric automobile independent steering assembly |
| CN106438821A (en) * | 2016-07-14 | 2017-02-22 | 西格迈股份有限公司 | Barrel type hydraulic shock absorber |
| CN106763441A (en) * | 2016-12-14 | 2017-05-31 | 长安大学 | A kind of automatic adjustable automobile absorber of resistance |
| CN207750425U (en) * | 2017-12-28 | 2018-08-21 | 欧孚迪汽车设计武汉有限公司 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric vehicle |
-
2017
- 2017-12-28 CN CN201711451817.0A patent/CN107989946A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB554983A (en) * | 1942-01-23 | 1943-07-28 | Ribbesford Company Ltd | Improvements in or relating to liquid damped telescopic shock absorbers |
| JP2007271065A (en) * | 2006-03-31 | 2007-10-18 | Hitachi Ltd | Hydraulic shock absorber |
| CN101648573A (en) * | 2009-08-31 | 2010-02-17 | 吉林大学 | Automobile traveling mechanism with wheel hub comprehensively drive and turning |
| CN101817308A (en) * | 2010-01-21 | 2010-09-01 | 上海大学 | Differential all-directional wheel device |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN103122962A (en) * | 2011-11-21 | 2013-05-29 | 长春孔辉汽车科技有限公司 | Light steerable hydro-pneumatic spring |
| CN102518730A (en) * | 2011-12-31 | 2012-06-27 | 张洪领 | Inflatable vibration damper |
| CN105673760A (en) * | 2016-03-07 | 2016-06-15 | 江苏大学 | Piezoelectric self-sensing based adjustable damper |
| CN205706845U (en) * | 2016-06-06 | 2016-11-23 | 安徽工程大学 | A kind of four wheels of electric automobile independent steering assembly |
| CN106438821A (en) * | 2016-07-14 | 2017-02-22 | 西格迈股份有限公司 | Barrel type hydraulic shock absorber |
| CN106114614A (en) * | 2016-08-26 | 2016-11-16 | 吉林大学 | A kind of controlled hydraulic locking type left and right wheels independent steering gear |
| CN106763441A (en) * | 2016-12-14 | 2017-05-31 | 长安大学 | A kind of automatic adjustable automobile absorber of resistance |
| CN207750425U (en) * | 2017-12-28 | 2018-08-21 | 欧孚迪汽车设计武汉有限公司 | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774787A (en) * | 2019-03-29 | 2019-05-21 | 广东机电职业技术学院 | A kind of wheel drive mechanism and the electric car including the mechanism |
| CN109774787B (en) * | 2019-03-29 | 2023-09-26 | 广东机电职业技术学院 | Wheel transmission mechanism and electric automobile comprising same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107989945A (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and vehicle | |
| CN103863042B (en) | Electronically controlled suspension system for vehicle | |
| CN102653283B (en) | Skid steered all terrain vehicle | |
| CN105523020B (en) | System and method for brake pedal feel control | |
| US10059154B2 (en) | Traveling device | |
| US20140210253A1 (en) | Hydraulic-pressure producing device and hydraulic brake system | |
| US9199624B2 (en) | Method of controlling a brake system of a vehicle | |
| CN102490566B (en) | Initiative side-tipping resisting stabilizer bar | |
| CN103244585B (en) | To the method that the braking system of vehicle controls | |
| CN107985395A (en) | Can all-wheel steering electric car steering | |
| CN107310623A (en) | The dual-motor electric servo steering system and power-assisted steering method of a kind of parallel-connection structure | |
| CN207750425U (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric vehicle | |
| CN106143599A (en) | Wheel steering angle measurement apparatus, control system, measuring method and control method | |
| CN105966381A (en) | Intelligent electronic inter-axle torque distribution control system and method for coal mine all-wheel drive vehicle | |
| CN107989946A (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car | |
| CN104302536A (en) | Power steering system, vehicle equipped with same, and control method thereof | |
| CN112739929A (en) | Hydraulic device, braking system and braking control method | |
| US20140041972A1 (en) | Volumetric braking device | |
| JPH08183444A (en) | Hydraulic control system of vehicle machine | |
| CN205601541U (en) | Full all terrain vehicle chassis | |
| CN104760481A (en) | Electrically-driven hydraulic independent suspension coiled tubing chassis | |
| CN207747935U (en) | Vehicle and its walking unit | |
| CN209159439U (en) | The multi link drive system of hub motor electric car | |
| CN207750424U (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and vehicle | |
| CN104884315B (en) | The control device of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211229 Address after: 430000 third floor, D + M industrial design Town, No. 1, Jinghan Avenue, Qiaokou District, Wuhan, Hubei Province Applicant after: Wuhan mengma Yiteng Intelligent Automobile Technology Co.,Ltd. Address before: 430035 6th floor, A95 office building, Hanzheng Street, 21 Jiefang Avenue, Qiaokou District, Wuhan City, Hubei Province Applicant before: ADVANCED VEHICLE DESIGN WUHAN Ltd. |
|
| TA01 | Transfer of patent application right |