CN111252142B - Automobile frame with adjustable turning radius and control method - Google Patents
Automobile frame with adjustable turning radius and control method Download PDFInfo
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- CN111252142B CN111252142B CN202010202975.8A CN202010202975A CN111252142B CN 111252142 B CN111252142 B CN 111252142B CN 202010202975 A CN202010202975 A CN 202010202975A CN 111252142 B CN111252142 B CN 111252142B
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- longitudinal beam
- steering
- control motor
- rotating arm
- locking
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000005259 measurement Methods 0.000 claims description 15
- 230000007935 neutral effect Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
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- 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
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0445—Screw drives
- B62D5/0448—Ball nuts
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses an automobile frame with an adjustable turning radius and a control method, wherein the automobile frame comprises a left longitudinal beam and a right longitudinal beam, each longitudinal beam is provided with a set of rotating mechanism, and each set of rotating mechanism comprises two independent control motors, two sets of locking mechanisms, two sets of ball screws, two sets of rotating arms and a rotating shaft connected between the two sets of rotating arms; the longitudinal beam is arranged in a tubular inner cavity of the rotating arm; the control motor is installed on the longeron, control motor's output shaft ball, install the nut base on the rotor arm, install locking mechanism between ball and control motor for carry out the locking to ball. The invention can actively control and adjust the turning radius of the automobile when the automobile is in understeer or oversteer to influence the steering stability of the automobile, thereby ensuring the running safety of the automobile and reducing the driving difficulty of the driver.
Description
Technical Field
The invention relates to the field of modern automobile design and manufacturing, in particular to an automobile frame with an adjustable turning radius and a control method.
Background
The minimum turning radius of the automobile is the radius of the locus circle through which the center plane of the outside steering wheel rolls on the support plane when the steering wheel turns to the limit position and the automobile turns at the lowest steady vehicle speed. The minimum turning radius of the automobile mainly influences the maneuvering flexibility of the automobile when the automobile runs, and the smaller the minimum turning radius is, the better the maneuverability of the automobile is, and the smaller the place required during steering is. The minimum turning radius of the traditional automobile is mainly influenced by the maximum value of the deflection angle of the outer steering wheel and the wheelbase, and the smaller the maximum value of the deflection angle of the outer steering wheel or the longer the wheelbase is, the larger the minimum turning radius is. However, these two parameters are determined by the structure and the shape of the automobile and are not generally easy to adjust. In addition, since the turning radius is generally controlled mainly by the front wheel steering angle when the vehicle turns, the steering characteristics of the vehicle are generally not easily adjusted when the driver achieves steering.
At present, the maintenance amount of the automobile is increased year by year, the driving road condition is more and more complex, the driving difficulty is increased, and particularly, the requirement on the mobility flexibility degree of the automobile is gradually increased when the automobile is blocked or parked. When the automobile is driven at a high speed, a safety device capable of automatically assisting in controlling the turning radius of the automobile is necessary for improving the steering stability of the automobile.
Disclosure of Invention
The invention aims to provide an automobile frame with an adjustable turning radius and a control method thereof, which can skillfully and reasonably reach the minimum turning radius required by an automobile, solve the problem that the steering stability of the automobile is affected due to insufficient steering or excessive steering of the automobile, and actively control and adjust the turning radius of the automobile.
The invention adopts the technical scheme that: the automobile frame with the adjustable turning radius comprises a left longitudinal beam and a right longitudinal beam, wherein each longitudinal beam is provided with a set of rotating mechanism, and each set of rotating mechanism comprises two independent control motors, two sets of locking mechanisms, two sets of ball screws, two sets of rotating arms and a rotating shaft connected between the two sets of rotating arms; the longitudinal beam is arranged in a tubular inner cavity of the rotating arm; the control motor is installed on the longeron, control motor's output shaft ball screw, install the nut base on the rotor arm for with ball screw cooperation control rotor arm and longeron between flexible distance, install locking mechanism between ball screw and control motor, be used for locking ball screw.
Further, the locking mechanism comprises a front sliding rail, a rear sliding rail and a locking device, wherein the front sliding rail is connected with the control motor shell, the rear sliding rail is connected with a nut bracket in the ball screw, and the front sliding rail and the rear sliding rail can synchronously move along with the longitudinal beam and the rotating arm.
Further, the locking device is driven by an electromagnetic device, and can realize locking or unlocking control according to a locking signal of the ECU.
A control method of an automobile frame with adjustable turning radius comprises the following steps,
The vehicle frame control system ECU estimates a driving intention route of a driver through a steering wheel rotation angle sensor measurement value and a wheel speed sensor measurement value;
Calculating the current actual running route of the automobile through the yaw rate sensor measurement value, the longitudinal acceleration sensor measurement value and the transverse acceleration sensor measurement value;
judging whether the current steering is neutral steering or not by calculating the difference value between the driving intention route and the actual driving route;
if the steering is judged to be neutral, the existing state of the frame is maintained;
if the steering is not neutral steering, continuing to judge whether the steering is insufficient steering or excessive steering;
when the steering is not enough, continuing to judge the steering direction of the automobile;
If the left steering is performed, the front locking mechanism and the rear locking mechanism on the left longitudinal beam are in a locking state, the front control motor and the rear control motor of the right longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be longer;
If the vehicle turns right, the front locking mechanism and the rear locking mechanism on the right side longitudinal beam are in a locking state, the front control motor and the rear control motor of the left side longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be longer;
when the steering direction is judged to be too much, continuing to judge the steering direction of the automobile;
If the left steering is performed, the front locking mechanism and the rear locking mechanism on the left longitudinal beam are in a locking state, the front control motor and the rear control motor of the right longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is regulated to be shortened;
if the steering is rightward, the front locking mechanism and the rear locking mechanism on the right longitudinal beam are in locking states, the front control motor and the rear control motor of the left longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be shortened.
The invention has the beneficial effects that:
The invention is a new structure which can reach the required minimum turning radius when the automobile is in limited steering, and the invention can actively control and adjust the turning radius of the automobile when the automobile is in understeer or oversteer to influence the steering stability of the automobile, thereby ensuring the running safety of the automobile according to the intention of a driver, and simultaneously reducing the driving difficulty of the driver.
Drawings
FIG. 1 is a schematic view of a side rail of the present invention;
FIG. 2 is a schematic diagram of a control decision strategy according to the present invention;
In the figure: the device comprises a 1-front control motor, a 2-front locking mechanism, a 3-front ball screw, a 4-front longitudinal beam, a 5-front rotating arm, a 6-rear control motor, a 7-rear locking mechanism, an 8-rear ball screw, a 9-rear longitudinal beam, a 10-rear rotating arm, a 11-rotating shaft, a 12-front sliding rail, a 13-rear sliding rail, a 14-locking device and a 15-nut bracket.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The frame is the base member of whole car, and different motorcycle types generally adopt the frame of different forms, and the frame can divide into three kinds generally according to structural style difference: side rail frames, center rail frames, and composite frames, with side rail frames being the most widely used. The invention takes the side beam type frame with the adjustable minimum turning radius as the main object, but the adopted structure and method can also be applied to other types of frames.
The two longitudinal beams of the frame are generally rigid, and the main characteristic of the frame structure provided by the invention is that the frame can realize a certain corner, thereby changing the minimum turning radius value of the automobile. The invention has the difference with the common frame that the invention mainly has the longitudinal beam which can rotate around the vertical axis of the vehicle body and can also realize the automatic adjustment of the length of the longitudinal beam, thereby being suitable for the different changes of the length of the rotation of the longitudinal beams at two sides.
As shown in fig. 1, the frame rail of the present invention is not in the whole-rail mode of the conventional automobile, but is divided into a front rail 4 and a rear rail 9 of the frame, and the left side rail is taken as an example for illustration: the left front longitudinal beam 4 of the frame is arranged in the tubular inner cavity of the left front rotating arm 5, the left front longitudinal beam 4 and the left front rotating arm have the same axis, and the left front longitudinal beam 4 can freely move relative to the left front rotating arm 5 in the axis direction. The base of the left front control motor 1 is fixedly arranged at the upper end of the left front longitudinal beam 4, the output shaft of the left front control motor 1 is coaxially and fixedly arranged with a screw rod in the left front ball screw 3, and the screw rod is controlled to rotate by the left front control motor 1. The nut bracket 15 in the left front ball screw 3 is fixedly installed at the upper end of the left front rotating arm 5, so that the left front longitudinal beam 4 and the left front rotating arm 5 can be driven to move relative to the axial directions of the left front longitudinal beam 4 and the left front rotating arm 5 through the rotation of the screw in the left front ball screw 3. The left front locking mechanism 2 consists of a front sliding rail 12, a rear sliding rail 13 and a locking device 14, the front sliding rail 12 of the left front locking mechanism 2 is connected with a shell of the left front control motor 1, the rear sliding rail 13 of the left front locking mechanism 2 is connected with a nut bracket 15 in the left front ball screw 3, and the front sliding rail 12 and the rear sliding rail 13 can synchronously move along with the movement of the left front longitudinal beam 4 and the left front rotating arm 5. The left front lock mechanism 2 functions to ensure that the left front side member 4 and the left front pivot arm 5 are locked against free displacement when moved to the specified positions.
Similar to the above structure, the left rear side member 9 of the frame is mounted in the tubular inner cavity of the left rear rotating arm 10, and both have the same axis, and the left rear side member 9 can freely move in the axis direction relative to the left rear rotating arm 10. The base of the left rear control motor 6 is fixedly arranged at the upper end of the left rear longitudinal beam 9, the output shaft of the left rear control motor 6 is coaxially and fixedly arranged with a screw rod in the left rear ball screw 8, and the screw rod is controlled to rotate by the left rear control motor 6. The nut bracket 15 in the left rear ball screw 8 is fixedly arranged at the upper end of the left rear rotating arm 10, so that the left rear longitudinal beam 9 and the left rear rotating arm 10 can be driven to move relative to the axial directions of the left rear longitudinal beam 9 and the left rear rotating arm 10 through the rotation of the screw in the left rear ball screw 8. The left rear locking mechanism 7 consists of a front sliding rail 12, a rear sliding rail 13 and a locking device 14, the front sliding rail 12 of the left rear locking mechanism 7 is connected with a shell of the left rear control motor 6, the rear sliding rail 13 of the left rear locking mechanism 7 is connected with a nut bracket 15 in the left rear ball screw 8, and the front sliding rail 12 and the rear sliding rail 13 can synchronously move along with the movement of the left rear longitudinal beam 9 and the left rear rotating arm 10. The left rear lock mechanism 7 functions to ensure that the left rear side member 9 and the left rear pivot arm 10 are locked against free displacement when moved to the specified positions.
The locking device 14 is driven by an electromagnetic device, and can realize locking or unlocking control according to a locking signal of the ECU.
The front rotating arm 5 and the rear rotating arm 10 in the rotating mechanism are connected by a rotating shaft 11, and can freely rotate around the rotating shaft 11. The position of the pivoting mechanism on the side member is generally determined according to the overall arrangement characteristics of the vehicle model, and is generally near the middle position in the longitudinal direction of the vehicle body.
The right side longitudinal beam and the left side longitudinal beam of the frame are similar in structure, namely the movement of the rotating mechanism is regulated by a front control motor and a rear control motor on the left side longitudinal beam and the right side longitudinal beam of the side beam type frame respectively.
During the straight running of the automobile, the front locking mechanism 2 and the rear locking mechanism 7 on the longitudinal beams on the left side and the right side are all in a locking state, and at the moment, the rotating arm on one side cannot move along the axial direction of the front longitudinal beam and the rear longitudinal beam on the corresponding side, namely, the sum of the lengths of the longitudinal beam on one side and the rotating arm on the longitudinal beam on the corresponding side is unchanged. In this locked condition, the frame will remain in a non-cornering condition, as a result of the greater rigidity of the frame, indistinguishable from conventional frames.
When the automobile is in high-speed steering running, if the steering stability is affected due to understeer or oversteer, the frame control system ECU continuously corrects the deflection angle of the automobile frame, so that the running path of the automobile is adjusted.
In order to ensure that the automobile can freely adjust the minimum turning radius, the automobile body parts in the transverse vertical plane where the rotating shaft of the steering mechanism is positioned can rotate along with the operation of the steering mechanism, so that the automobile body forms a certain folding angle. Therefore, the side beams on the two sides of the vehicle body are all in the form of steering mechanisms, and driving components such as a control motor, a locking mechanism, a ball screw and a ball screw are not required to be arranged. For automotive roof panels, a hinged form is required.
As shown in fig. 2, the vehicle frame control system ECU estimates the driver's driving intention route from the steering wheel angle sensor measurement value and the wheel speed sensor measurement value, and calculates the current actual running route of the vehicle from the yaw rate sensor measurement value, the longitudinal acceleration sensor measurement value, and the lateral acceleration sensor measurement value. Judging whether the current steering is neutral steering or not by calculating the difference value between the driving intention route and the actual driving route, and if the current steering is neutral steering, keeping the existing state of the frame; if the steering is not neutral, the steering is not understeer or oversteer. For the condition of understeer, the working state of the rotating arm needs to be determined according to the current steering direction, if the rotating arm steers leftwards, the front locking mechanism 2 and the rear locking mechanism 7 on the left side longitudinal beam are all in a locking state, the front control motor 1 and the rear control motor 6 of the right side longitudinal beam rotate, and the relative distance between the corresponding front rotating arm 10 and the corresponding rear rotating arm 10 and the connected longitudinal beam is adjusted to be longer; if steering to the right, the front locking mechanism 2 and the rear locking mechanism 7 on the right side longitudinal beam are all in a locking state, the left side longitudinal beam front control motor 1 and the rear control motor 6 rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be longer. Thus, the control of the vehicle steering stability can be completed with little change in the vehicle interior space.
Similarly, when the steering direction is judged to be too much, the steering direction is still judged first, if the steering direction is leftward, the front locking mechanism 2 and the rear locking mechanism 7 on the left side longitudinal beam are all in a locking state, the front control motor 1 and the rear control motor 6 of the right side longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is regulated to be shortened; if the steering is rightward, the front lock mechanism 2 and the rear lock mechanism 7 on the right side member are all in the locked state, the left side member front control motor 1 and the rear control motor 6 are rotated, and the relative distance between the corresponding front and rear rotating arms 10 and the connected side member is adjusted to be shortened.
When the automobile is in the process of slowly limiting steering, if the turning radius cannot meet the requirement, the current minimum turning radius needs to be reduced. The specific control is as follows: when the automobile turns left, all control motors are controlled simultaneously, the relative distance between the left front rotating arm and the connected longitudinal beam is adjusted to reach the shortest limit, and the relative distance between the right front rotating arm and the connected longitudinal beam is adjusted to reach the longest limit. When the automobile turns right, all control motors are controlled simultaneously, the relative distance between the front rotating arm and the rear rotating arm on the right side and the connected longitudinal beam is adjusted to reach the shortest limit, and the relative distance between the front rotating arm and the rear rotating arm on the left side and the connected longitudinal beam is adjusted to reach the longest limit.
Claims (1)
1. A control method of an automobile frame with adjustable turning radius is characterized by comprising the following steps: each longitudinal beam is provided with a set of rotating mechanism, and each set of rotating mechanism comprises two independent control motors, two sets of locking mechanisms, two sets of ball screws, two sets of rotating arms and a rotating shaft connected between the two sets of rotating arms; the longitudinal beam is arranged in a tubular inner cavity of the rotating arm; the control motor is arranged on the longitudinal beam, an output shaft of the control motor is connected with the ball screw, a nut base is arranged on the rotating arm and used for controlling the telescopic distance between the rotating arm and the longitudinal beam in a matched manner with the ball screw, and a locking mechanism is arranged between the ball screw and the control motor and used for locking the ball screw; the locking mechanism consists of a front sliding rail, a rear sliding rail and a locking device, wherein the front sliding rail is connected with a control motor shell, the rear sliding rail is connected with a nut bracket in a ball screw, and the front sliding rail and the rear sliding rail can synchronously move along with the movement of a longitudinal beam and a rotating arm; the locking device is driven by an electromagnetic device, and realizes locking or unlocking control according to a locking signal of the ECU;
The control method comprises the following steps:
The vehicle frame control system ECU estimates a driving intention route of a driver through a steering wheel rotation angle sensor measurement value and a wheel speed sensor measurement value;
Calculating the current actual running route of the automobile through the yaw rate sensor measurement value, the longitudinal acceleration sensor measurement value and the transverse acceleration sensor measurement value;
judging whether the current steering is neutral steering or not by calculating the difference value between the driving intention route and the actual driving route;
if the steering is judged to be neutral, the existing state of the frame is maintained;
if the steering is not neutral steering, continuing to judge whether the steering is insufficient steering or excessive steering;
when the steering is not enough, continuing to judge the steering direction of the automobile;
If the left steering is performed, the front locking mechanism and the rear locking mechanism on the left longitudinal beam are in a locking state, the front control motor and the rear control motor of the right longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be longer;
If the vehicle turns right, the front locking mechanism and the rear locking mechanism on the right side longitudinal beam are in a locking state, the front control motor and the rear control motor of the left side longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be longer;
when the steering direction is judged to be too much, continuing to judge the steering direction of the automobile;
If the left steering is performed, the front locking mechanism and the rear locking mechanism on the left longitudinal beam are in a locking state, the front control motor and the rear control motor of the right longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is regulated to be shortened;
if the steering is rightward, the front locking mechanism and the rear locking mechanism on the right longitudinal beam are in locking states, the front control motor and the rear control motor of the left longitudinal beam rotate, and the relative distance between the corresponding front rotating arm and the corresponding rear rotating arm and the connected longitudinal beam is adjusted to be shortened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010202975.8A CN111252142B (en) | 2020-03-20 | 2020-03-20 | Automobile frame with adjustable turning radius and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010202975.8A CN111252142B (en) | 2020-03-20 | 2020-03-20 | Automobile frame with adjustable turning radius and control method |
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| Publication Number | Publication Date |
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| CN111252142A CN111252142A (en) | 2020-06-09 |
| CN111252142B true CN111252142B (en) | 2024-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010202975.8A Active CN111252142B (en) | 2020-03-20 | 2020-03-20 | Automobile frame with adjustable turning radius and control method |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212125296U (en) * | 2020-03-20 | 2020-12-11 | 河南工学院 | Automobile frame with adjustable turning radius |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6530445B1 (en) * | 2000-05-12 | 2003-03-11 | Electric Mobility Corporation | Variable wheelbase personal mobility vehicle |
| AUPR184400A0 (en) * | 2000-12-01 | 2001-01-04 | Gayat Pty Ltd | Articulated vehicle wheel tracking mechanism |
| WO2005069778A2 (en) * | 2004-01-09 | 2005-08-04 | Electric Mobility Corporation | Vehicle with improved turning |
| CN102730062B (en) * | 2012-06-15 | 2015-02-18 | 三一汽车制造有限公司 | Frame and vehicle |
| CN205059733U (en) * | 2015-10-23 | 2016-03-02 | 南京工程学院 | Rack and pinion formula small -size electric automobile frame that can stretch out and draw back automatically |
| CN105857393B (en) * | 2016-04-11 | 2017-11-17 | 北京科技大学 | The differential boost line draining pressure forward method of full wheel independent electric drive articulator |
| CN106915405B (en) * | 2017-03-10 | 2018-06-22 | 江苏金彭车业有限公司 | A kind of telescopic folding type electric vehicle |
| CN106904051A (en) * | 2017-03-22 | 2017-06-30 | 卢华清 | The double-draught device of bow-type tractor |
| CN206664756U (en) * | 2017-05-04 | 2017-11-24 | 绵阳市川交公路规划勘察设计有限公司 | A kind of rearmounted turning big gun of hydraulic pressure applied to the transport of long part |
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2020
- 2020-03-20 CN CN202010202975.8A patent/CN111252142B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212125296U (en) * | 2020-03-20 | 2020-12-11 | 河南工学院 | Automobile frame with adjustable turning radius |
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| CN111252142A (en) | 2020-06-09 |
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