CN110341500A - A kind of straddle carrier compact running driving control system and its control method - Google Patents
A kind of straddle carrier compact running driving control system and its control method Download PDFInfo
- Publication number
- CN110341500A CN110341500A CN201910710453.6A CN201910710453A CN110341500A CN 110341500 A CN110341500 A CN 110341500A CN 201910710453 A CN201910710453 A CN 201910710453A CN 110341500 A CN110341500 A CN 110341500A
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- CN
- China
- Prior art keywords
- straddle carrier
- motor
- control system
- vehicle frame
- walking
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of straddle carrier compact running driving control systems, it include: walking driver, including driving vehicle frame, motor, brake, reduction gearbox, driving vehicle frame is connected on straddle carrier, motor is set on driving vehicle frame, motor, brake, reduction gearbox are sequentially connected, and wheel is connected on reduction gearbox；Battery power unit, with the mains power for the walking driver；Diesel generator group, with the total output for the walking driver；Rectification unit, to by the conversion between alternating current and direct current；Control module, to synchronize control to the wheel on the walking driver.The invention also discloses a kind of straddle carrier compact hoofing part control methods.The present invention improves reliability, sensitivity, accuracy and the maintenance application of straddle carrier running driving control system, to meet the requirement of automation and intelligent high-efficiency rate operation.
Description
Technical field
The present invention relates to straddle carrier walking mechanisms, more specifically to a kind of straddle carrier compact
Running driving control system and its control method.
Background technique
Straddle carrier is one of container handling device, usually undertakes the level fortune by wharf apron to stockyard
The work of defeated or stockyard container stack, it with door shape vehicle frame across on container, by the hydraulic liter that container spreader is housed
Drop system slings container, is carried, and can be by two, three layers of height of container stack.Since straddle carrier is with motor-driven
Flexibly, high-efficient, the features such as stability is good, wheel load is low, obtains universal application, before straddle carrier operation is to harbour is improved
The efficiency of loading and unloading along equipment is highly beneficial.
As shown in Figure 1, the walking mechanism of traditional straddle carrier arranges complicated, steering motor 100, the quilt of movable motor 101
It is arranged in upper brace, is then transmitted power on driving wheel 102 by transmission shaft, such design not only makes across fortune
Car body product is big, weight is big, and inefficiency, maintenance difficulty are high, while decreasing straddle carrier upper brace and can utilize space.And
And straddle carrier cannot be further continued for work or movement when driving motor perhaps transmission shaft failure, this can be serious
The hauling operation efficiency for influencing harbour container even can make the transport of harbour container be trapped in interim state of paralysis.
Summary of the invention
In view of the above defects of the prior art, the object of the present invention is to provide a kind of straddle carrier compacts
Running driving control system and its control method improve the reliability of straddle carrier running driving control system, sensitivity, precisely
Property and maintenance application, with meet automation and intelligent high-efficiency rate operation requirement.
To achieve the above object, the present invention adopts the following technical scheme:
On the one hand, a kind of straddle carrier compact running driving control system, comprising:
Walking driver mechanism, including driving vehicle frame, walking driver, running motor and steering controller, drive vehicle frame
It is connected on straddle carrier, steering controller is set on driving vehicle frame, and there are four walking driver tools, is set on driving vehicle frame, is used
To drive running motor；
Battery power unit, with the mains power for the walking driver；
Diesel generator group, with the total output for the walking driver；
Rectification unit, to by the conversion between alternating current and direct current；
Control module, to synchronize control to the wheel on the walking driver.
The battery power unit, including battery management system and battery, base of the battery management system to acquire battery
This parameter.
The battery is lithium battery.
The steering controller, including motor, reduction gearbox and brake.
The diesel generator group, including diesel engine manager and diesel generating set.
The rectification unit, including bank electricity switching system, ac filter buffer loop, AC-DC rectifier and direct current buffering
Circuit.
Distribution module in the control module, including controller CPU and cabinet.
The control module is communicated using can.
The driving vehicle frame is connected on straddle carrier by suspended axle, and water cooling inversion unit is also equipped on walking driver.
On the other hand, a kind of straddle carrier compact hoofing part control method:
Start straddle carrier, diesel generating set operating, and the three-phase alternating current issued is transmitted to the bank of rectification unit
Electric switching system, then enter in AC-DC rectifier through ac filter buffer loop, AC-DC rectifier is by three-phase alternating current electric rectification
It after becoming direct current, is exported through direct current buffer loop, part of direct current is changed into alternating current through walking driver and is applied to
Make motor operation on motor, and then drive straddle carrier walking, remaining part direct current is then battery charging；
Controller CPU obtains the real-time steering angle of each wheel of straddle carrier by steering controller, and according to different
Steering angle accurately calculates the revolving speed of motor on the i.e. each wheel of speed of each wheel walking of straddle carrier, to realize electricity
Differential protection on gas；
When straddle carrier is in zero load walking, controller CPU can carry out high area's weak magnetic control to driving motor makes motor with height
It is run in specified revolving speed.
In the above technical solution, a kind of straddle carrier compact hoofing part control system provided by the present invention
System and its control method, also have the following the utility model has the advantages that
1) running driving control system of the present invention uses the three-in-one deceleration for integrating motor, retarder, brake
Box-shaped formula keeps structure more compact, more efficient, more easy-maintaining；
2) running driving control system of the present invention or so respectively uses two three-in-one reduction gearboxes, when each damage one in left and right
In the case of, straddle carrier can still walk, and not interfere with the normal operation of automatic dock；
3) running driving control system of the present invention controls driving motor using high velocity weak magnetic, under no-load condition can be with
It runs motor to be higher than specified revolving speed, improves the working efficiency of straddle carrier；
4) running driving control system of the present invention uses synchronously control to driving motor, ensure that the steering angle of wheel with
The accurate matching of velocity of rotation, avoids the inordinate wear of tire；
5) running driving control system of the present invention uses water cooling inversion unit, and radiating efficiency is high, small in size, easy-maintaining,
IP grade is high, more reliable to be placed on outdoor.
Detailed description of the invention
Fig. 1 is the schematic diagram of walking mechanism on existing straddle carrier；
Fig. 2 is running driving control system structural schematic block diagram of the present invention；
Fig. 3 is the layout drawing of walking driver in running driving control system of the present invention.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
Incorporated by reference to shown in Fig. 2 to Fig. 3, a kind of straddle carrier compact hoofing part control system provided by the present invention
System, comprising:
Walking driver mechanism, including driving vehicle frame 11, walking driver 17, running motor and steering controller, driving
Vehicle frame 11 is connected on straddle carrier, and steering controller is set on driving vehicle frame 11, and there are four the tools of walking driver 17, is set to driving
On vehicle frame, DC direct current is into alternating current goes out, to drive running motor.
Preferably, the steering controller, including motor 12, reduction gearbox 14 and brake 13, form three-in-one reducing gear
Roller box form is connected with wheel 15 so that structure is more compact on reduction gearbox 14.
Battery power unit 2, with the mains power for the walking driver.
Diesel generator group 3, with the total output for the walking driver.
Rectification unit 4, to by the conversion between alternating current and direct current.
Control module 5, to synchronize control to the wheel 15 on the walking driver.
Preferably, the battery power unit 2, including battery management system 21 and battery 22, battery 22 are big with the long-life
Based on the lithium battery of capacity, using modular arrangements；Battery management system 21 can acquire voltage, temperature and the electric current of battery 21
Equal basic parameters, and the data such as health degree that can be derived that battery 22.
Preferably, the diesel generator group 3, including diesel engine manager (ECU) 31 and diesel generating set 32, bavin
The cooperation of oily generating set 32 and battery 22 constitutes hybrid power, and diesel engine manager (ECU) 31 is the revolving speed for controlling diesel engine
And power, this type are the diesel engines of full speed change, according to master control be transmitted through come loading condition real-time control diesel engine speed and function
Rate, to realize energy conservation.
Preferably, the rectification unit 4, including bank electricity switching system 41, ac filter buffer loop 42, AC-DC rectification
Device 43 and direct current buffer loop 44.
Preferably, the control module 5, including distribution module 52 in controller CPU51 and cabinet, distribution module 52 divides in cabinet
The communication module of cloth is the signal acquisition module in can bus, and feedback executes the state of electric components and executes output action
(for example being attracted contactor, solenoid valve etc.).
Preferably, the control module 5 uses can communication modes, which is universal in current engineering truck
The communication modes of use, mature and reliable, and wire laying mode is simple, diagnosis is convenient.
Preferably, the driving vehicle frame 11 is connected on straddle carrier by suspended axle 16, drives and be also equipped with water cooling on vehicle frame 11
Inversion unit, to drive running motor.
The present invention also provides a kind of straddle carrier compact hoofing part control methods:
After driver starts straddle carrier, diesel generating set 32 is operated, and the three-phase alternating current issued is transmitted to
The bank electricity switching system 41 of rectification unit 4, then enter in AC-DC rectifier 43 through ac filter buffer loop 42, AC-DC rectification
After three-phase alternating current electric rectification is become direct current by device 43, exported through direct current buffer loop 44, part of direct current is through hoofing part
Device 1, which is changed into alternating current and is applied on motor 12, runs motor 12, and then drives straddle carrier walking, remaining part direct current
Then charge for battery.
Meanwhile controller CPU52 obtains the real-time steering angle of each wheel 15 of straddle carrier by steering controller 51, and
Motor 12 on the i.e. each wheel 15 of speed that each wheel 15 of straddle carrier is walked accurately is calculated according to different steering angles
Revolving speed, to realize differential protection electrically.
And when straddle carrier is in zero load walking, controller CPU52 can carry out high area's weak magnetic control to driving motor 12 makes electricity
Machine 12 is run with being higher than specified revolving speed, and then improves the speed of travel of straddle carrier, to improve the working efficiency of straddle carrier.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (10)
1. a kind of straddle carrier compact running driving control system characterized by comprising
Walking driver mechanism, including driving vehicle frame, walking driver, running motor and steering controller, driving vehicle frame are connected in
On straddle carrier, steering controller is set on driving vehicle frame, and there are four walking driver tools, is set on driving vehicle frame, to drive
Dynamic running motor；
Battery power unit, with the mains power for the walking driver；
Diesel generator group, with the total output for the walking driver；
Rectification unit, to by the conversion between alternating current and direct current；
Control module, to synchronize control to the wheel on the walking driver.
2. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Battery power unit, including battery management system and battery, basic parameter of the battery management system to acquire battery.
3. a kind of straddle carrier compact running driving control system as claimed in claim 2, it is characterised in that: described
Battery is lithium battery.
4. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Steering controller, including motor, reduction gearbox and brake.
5. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Diesel generator group, including diesel engine manager and diesel generating set.
6. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Rectification unit, including bank electricity switching system, ac filter buffer loop, AC-DC rectifier and direct current buffer loop.
7. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Distribution module in control module, including controller CPU and cabinet.
8. a kind of straddle carrier compact running driving control system as claimed in claim 7, it is characterised in that: described
Control module is communicated using can.
9. a kind of straddle carrier compact running driving control system as described in claim 1, it is characterised in that: described
Driving vehicle frame is connected on straddle carrier by suspended axle, is driven and is also equipped with water cooling inversion unit on vehicle frame.
10. a kind of such as described in any item straddle carrier compact hoofing part control methods of right 1-9, feature exist
In:
The bank electricity that starting straddle carrier, diesel generating set operating, and the three-phase alternating current issued are transmitted to rectification unit is cut
System is changed, then is entered in AC-DC rectifier through ac filter buffer loop, AC-DC rectifier becomes three-phase alternating current electric rectification
It after direct current, is exported through direct current buffer loop, part of direct current is changed into alternating current through walking driver and is applied to motor
On make motor operation, and then drive straddle carrier walking, remaining part direct current is then battery charging；
Controller CPU obtains the real-time steering angle of each wheel of straddle carrier by steering controller, and according to different steerings
Angle accurately calculates the revolving speed of motor on the i.e. each wheel of speed of each wheel walking of straddle carrier, to realize electrically
Differential protection；
When straddle carrier is in zero load walking, controller CPU can carry out high area's weak magnetic control to driving motor makes motor to be higher than volume
Fixed revolving speed operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910710453.6A CN110341500A (en) | 2019-08-02 | 2019-08-02 | A kind of straddle carrier compact running driving control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910710453.6A CN110341500A (en) | 2019-08-02 | 2019-08-02 | A kind of straddle carrier compact running driving control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110341500A true CN110341500A (en) | 2019-10-18 |
Family
ID=68183788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910710453.6A Pending CN110341500A (en) | 2019-08-02 | 2019-08-02 | A kind of straddle carrier compact running driving control system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110341500A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7100722B2 (en) * | 2002-08-29 | 2006-09-05 | Peerless-Winsmith, Inc. | Wheel assembly including a DC motor mounted within the HUB and drive connected to the wheel |
| CN102910203A (en) * | 2012-10-29 | 2013-02-06 | 南京航空航天大学 | Wheel-type differential driving-steering device with changeable mounting height |
| CN103318050A (en) * | 2013-05-27 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Full-electric straddle carrier and independent servo steering system thereof |
| CN105305713A (en) * | 2015-10-30 | 2016-02-03 | 简式国际汽车设计（北京）有限公司 | Wheel hub motor |
| CN205736916U (en) * | 2016-05-16 | 2016-11-30 | 浙江中力机械有限公司 | Mover drive assembly |
-
2019
- 2019-08-02 CN CN201910710453.6A patent/CN110341500A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7100722B2 (en) * | 2002-08-29 | 2006-09-05 | Peerless-Winsmith, Inc. | Wheel assembly including a DC motor mounted within the HUB and drive connected to the wheel |
| CN102910203A (en) * | 2012-10-29 | 2013-02-06 | 南京航空航天大学 | Wheel-type differential driving-steering device with changeable mounting height |
| CN103318050A (en) * | 2013-05-27 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Full-electric straddle carrier and independent servo steering system thereof |
| CN105305713A (en) * | 2015-10-30 | 2016-02-03 | 简式国际汽车设计（北京）有限公司 | Wheel hub motor |
| CN205736916U (en) * | 2016-05-16 | 2016-11-30 | 浙江中力机械有限公司 | Mover drive assembly |
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| PB01 | Publication | ||
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Application publication date: 20191018 |