CN112339857B - Steering method based on articulated four-wheel drive chassis - Google Patents
Steering method based on articulated four-wheel drive chassis Download PDFInfo
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- CN112339857B CN112339857B CN202011109371.5A CN202011109371A CN112339857B CN 112339857 B CN112339857 B CN 112339857B CN 202011109371 A CN202011109371 A CN 202011109371A CN 112339857 B CN112339857 B CN 112339857B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a steering method based on an articulated four-wheel drive chassis, wherein the articulated four-wheel drive chassis comprises an articulated vehicle frame formed by articulating two supports, each support is provided with two walking wheels driven by an independent rotation driving device, the four walking wheels on the two supports are positioned in the same plane, the articulation axes of the two supports are superposed with the intersection points of two diagonals of an assumed rectangle, the four walking wheels on the two supports are respectively and correspondingly arranged on four corners of the assumed rectangle, and the articulated four-wheel drive chassis also comprises a steering driving component for driving the two supports to rotate relatively. The steering method is characterized in that the steering is controlled by combining the driving of the steering driving assembly and actively adjusting the rotating speed of each walking wheel, so that the instantaneous steering origin of the articulated vehicle frame is positioned on the axis of the walking wheel at the rear end.
Description
(the application is a divisional application of 'an articulated four-wheel drive chassis and a steering method thereof', the application date of the original application is 2019, 10 and 18, and the application number is 201910994178.5, and the invention provides 'an articulated four-wheel drive chassis and a steering method thereof')
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a steering method based on an articulated four-wheel drive chassis.
Background
New energy vehicles have developed rapidly in recent years with the support of national policies. Most traditional farmland operation vehicles have great self weight and high power consumption, and do not have the condition of complete electromotion, and in the fields of direct seeding, plant protection and the like, because the operation machines have small volumes, the power consumption is not large, and the farmland operation vehicles have the potential of complete electromotion.
Due to the fact that the steering angle of the articulated vehicle body is large, compared with a traditional wheel type tractor, the articulated vehicle body has obvious driving performance advantages under the background of complex driving environment in the south, and in recent years, farmland operation vehicles based on the articulated vehicle body are also endless. However, the existing articulated vehicle body has the defects of complex structure, poor stability, incapability of ensuring an accurate steering path during steering and the like. In addition, in the fields of live broadcast, plant protection and the like, the existing hinged vehicle body is not purely electrically driven and controlled, and automatic driving or remote control is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a steering method based on an articulated four-wheel drive chassis, which has the advantages of good driving flexibility, simple and compact structure, easiness in manufacturing, low cost, stability and reliability in working and accurate steering path.
In order to solve the technical problems, the invention adopts the following technical scheme:
a steering method based on an articulated four-wheel drive chassis comprises an articulated vehicle frame formed by two supports in an articulated manner, wherein each support is provided with two walking wheels driven by an independent rotation driving device, the four walking wheels on the two supports are positioned in the same plane, the articulated axes of the two supports are superposed with the intersection points of two diagonals of an assumed rectangle, the four walking wheels on the two supports are respectively and correspondingly arranged on four corners of the assumed rectangle, and the articulated four-wheel drive chassis further comprises a steering driving assembly for driving the two supports to rotate relatively;
the steering method is that one end of one bracket far from the hinge axis is the front end of the articulated frame, and the other end of the other bracket far from the hinge axis is the rear end of the articulated frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two supports are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (2),
in the formula, v0 represents the walking speed per hour of the articulated four-wheel drive chassis, alpha is a target steering angle, W is the wheel track of left and right walking wheels, and L is the wheel track of front and rear walking wheels;
then the speed of each running wheel is controlled by the independent rotation driving device, the speed of the running wheel at the front end and far away from the turning direction is adjusted to v0+ delta v, and the speed of the running wheel at the front end and near to the turning direction is adjusted to v 0-delta v, so that the instantaneous turning original point O of the articulated vehicle frame is positioned on the axis of the running wheel at the rear end.
As a further improvement of the above technical solution:
the steering drive assembly comprises a telescopic driving piece connected between the two brackets.
The telescopic driving piece is an electric telescopic rod.
Be equipped with first spacing portion on a support, be equipped with on another support and be used for prescribing a limit to the second spacing portion of two support relative rotation angle scopes with the cooperation of first spacing portion, just electric telescopic handle is first spacing portion and the mutual contact of the spacing portion of second in order to prevent two support relative rotations to force electric telescopic handle to continue to shrink before contracting to shrink extreme position, electric telescopic handle is first spacing portion and the mutual contact of the spacing portion of second in order to prevent two support relative rotations to force electric telescopic handle to continue to stretch out before stretching out extreme position.
The two supports are mutually hinged through the hinge assembly, the hinge assembly comprises a connecting plate arranged on one support and two clamping plates arranged at intervals and detachably arranged on the other support, the connecting plate is inserted between the two clamping plates, and a plane bearing is arranged between each clamping plate and the connecting plate.
The hinge assembly further comprises a hinge positioning pin and a locking cap, the hinge positioning pin penetrates through the connecting plate, the two clamping plates and all the plane bearings, a limiting portion which is abutted to one of the clamping plates is arranged at one end of the hinge positioning pin, the locking cap is connected to the other end of the hinge positioning pin through a fastening piece, and the locking cap is abutted to the other clamping plate.
The independent rotation driving device for driving each walking wheel comprises a rotation driving piece and a secondary reduction gearbox, the secondary reduction gearbox is fixedly arranged on the support, the driving end of the rotation driving piece is connected with the input shaft of the secondary reduction gearbox, and the walking wheels are connected to the output shaft of the secondary reduction gearbox.
Compared with the prior art, the invention has the advantages that:
the articulated four-wheel drive chassis adopted by the steering method can realize the undifferentiated driving and steering of the forward and backward movement, ensures the same driving performance when the vehicle moves forward and backward, and has the advantages of good driving flexibility, simple and compact structure, easy manufacture, low cost, and stable and reliable work. This articulated formula four-wheel drive chassis is particularly useful for farmland operation vehicle, and higher operation demand of traveling is satisfied in the complicated farmland operation environment of adaptation that can be better.
The steering method based on the articulated four-wheel drive chassis controls steering by combining the driving of the steering driving component and actively adjusting the rotating speed of each walking wheel, and can ensure the accuracy of a steering path.
Drawings
Fig. 1 is a schematic perspective view of an articulated four-wheel drive chassis.
Fig. 2 is a front view structural schematic diagram of the articulated four-wheel drive chassis.
Fig. 3 is a main sectional structural view of a hinge assembly between two brackets.
Fig. 4 is a schematic sectional structure view of the independent rotation driving device and the traveling wheel.
Fig. 5 is a schematic diagram of a first steering system.
Fig. 6 is a schematic diagram of a second steering system.
Fig. 7 is a schematic diagram of a third steering mode.
Illustration of the drawings:
1. an articulated frame; 11. a support; 101. a first limiting part; 102. a second limiting part; 111. a connecting plate; 112. a splint; 113. a flat bearing; 114. hinging and positioning pins; 1141. a limiting part; 115. a locking cap; 2. a traveling wheel; 3. a telescopic driving member; 4. a rotary drive member; 5. a secondary reduction box; 51. a housing; 52. a power input shaft; 53. a deceleration shaft; 54. a power take-off shaft; 55. a primary driving gear; 56. a primary driven gear; 57. a secondary drive gear; 58. a secondary driven gear.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 and fig. 2, the articulated four-wheel drive chassis of the embodiment includes an articulated frame 1 formed by two brackets 11 in an articulated manner, each bracket 11 is provided with two walking wheels 2 driven by independent rotation driving devices, the four walking wheels 2 on the two brackets 11 are located in the same plane, the articulated axes of the two brackets 11 coincide with the intersection points of two diagonals of an assumed rectangle, the four walking wheels 2 on the two brackets 11 are respectively and correspondingly located at four corners of the assumed rectangle, the rotation axes of the two walking wheels 2 on the same bracket 11 are collinear, the four walking wheels 2 are located in the same plane and are parallel to each other, and the articulated four-wheel drive chassis further includes a steering driving assembly for driving the two brackets 11 to rotate relatively. The steering of the articulated vehicle frame 1 (articulated four-wheel drive chassis) can be realized by driving the two brackets 11 to rotate relatively through the steering driving component. The articulated four-wheel drive chassis can realize the indifferent driving and steering of forward and backward movement, ensures the same driving performance when advancing and backward, and has the advantages of good driving flexibility, simple and compact structure, easy manufacture, low cost, and stable and reliable work. This articulated formula four-wheel drive chassis is particularly useful for farmland operation vehicle, and higher operation demand of traveling is satisfied in the complicated farmland operation environment of adaptation that can be better.
In this embodiment, the steering driving assembly is a telescopic driving member 3 connected between the two brackets 11, and has a simple structure and low cost. Preferably, the telescopic driving member 3 is an electric telescopic rod. In other embodiments, the telescopic driving member 3 may also be a telescopic driving member such as a telescopic cylinder or a telescopic cylinder.
In this embodiment, as shown in fig. 1, a first limiting portion 101 is disposed on one of the brackets 11, a second limiting portion 102 for cooperating with the first limiting portion 101 to limit a relative rotation angle range of the two brackets 11 is disposed on the other bracket 11, before the electric telescopic rod is contracted to the contraction limiting position, the first limiting portion 101 and the second limiting portion 102 contact each other to prevent the two brackets 11 from rotating relatively and force the electric telescopic rod to contract continuously, and before the electric telescopic rod is extended to the expansion limiting position, the first limiting portion 101 and the second limiting portion 102 contact each other to prevent the two brackets 11 from rotating relatively and force the electric telescopic rod to extend continuously. Thus, the electric telescopic rod can be prevented from being damaged. The damage-preventing mechanism has the advantages of simple and compact structure, easy manufacture and low cost. The first limiting part 101 of the present embodiment includes two first stoppers respectively disposed on two sides of the hinge axis of the two brackets 11, the second limiting part 102 includes two second stoppers respectively disposed on two sides of the hinge axis of the two brackets 11, and the two first stoppers are in one-to-one correspondence with the two second stoppers.
In this embodiment, as shown in fig. 3, the two brackets 11 are hinged to each other through a hinge assembly, the hinge assembly includes a connecting plate 111 disposed on one of the brackets 11 and two clamping plates 112 detachably disposed on the other bracket 11 at intervals, the connecting plate 111 is inserted between the two clamping plates 112, and a flat bearing 113 is mounted between each clamping plate 112 and the connecting plate 111. The hinge assembly is simple in structure, easy to manufacture and assemble, low in cost, stable in operation and high in reliability.
In this embodiment, the hinge assembly further includes a hinge positioning pin 114 and a locking cap 115, the hinge positioning pin 114 penetrates through the connecting plate 111, the two clamping plates 112 and all the plane bearings 113, one end of the hinge positioning pin 114 is provided with a limiting portion 1141 abutting against one of the clamping plates 112, the locking cap 115 is connected to the other end of the hinge positioning pin 114 through a fastener, the locking cap 115 abuts against the other clamping plate 112, that is, the limiting portion 1141 and the locking cap 115 of the hinge positioning pin 114 clamp the two clamping plates 112 from the outside, and the hinge positioning pin 114 plays a role in hinge positioning, so that the structural strength can be improved, and the accuracy, stability and reliability of hinge connection are ensured. The fasteners are screws.
In this embodiment, as shown in fig. 4, the independent rotation driving device for driving each traveling wheel 2 includes a rotation driving member 4 and a secondary reduction gearbox 5, the secondary reduction gearbox 5 is fixedly mounted on the support 11, a driving end of the rotation driving member 4 is connected with an input shaft of the secondary reduction gearbox 5, and the traveling wheels 2 are connected to an output shaft of the secondary reduction gearbox 5. The power of the rotary driving part 4 is transmitted to the traveling wheels 2 through the secondary reduction gearbox 5, so that the torque can be effectively amplified, and the transmission precision is improved. The secondary reduction gearbox 5 comprises a shell 51 fixedly mounted on the support 11, a power input shaft 52, a reduction shaft 53 and a power output shaft 54 are rotatably mounted on the shell 51, a primary driving gear 55 is connected to the power input shaft 52 through a spline, a primary driven gear 56 and a secondary driving gear 57 are connected to the reduction shaft 53 through a spline, a secondary driven gear 58 is connected to the power output shaft 54 through a spline, the primary driving gear 55 is meshed with the primary driven gear 56, the secondary driving gear 57 is meshed with the secondary driven gear 58, the power input shaft 52 is connected with the rotary driving part 4, a polygonal shaft section is arranged at the tail end of the power output shaft 54, the travelling wheel 2 is provided with a polygonal hole which is sleeved on the polygonal shaft section and matched with the polygonal shaft section to stop rotation, and the travelling wheel 2 is fixedly connected with the power output shaft 54 through a bolt pair.
In this embodiment, rotary driving piece 4 adopts the motor, does benefit to energy saving, improves the operation stationarity, and has realized the pure electric control on articulated formula four-wheel drive chassis, realizes autopilot or remote control after being convenient for install relevant controller additional.
A first steering method of the articulated four-wheel drive chassis of the embodiment is that, as shown in fig. 5, one end of one bracket 11 away from the articulation axis is the front end of the articulated frame 1, and the other end of the other bracket 11 away from the articulation axis is the rear end of the articulated frame 1; when the articulated vehicle frame 1 needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (1),
in the formula, v0The speed per hour of the walking of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 2, and L is the wheel track of the front and rear walking wheels 2;
then, the speed of each traveling wheel 2 is controlled by the independent rotation driving device so that the speed of the traveling wheel 2 located at the front end and on the side away from the turning direction and the speed of the traveling wheel 2 located at the rear end and on the side close to the turning direction are adjusted to v0+ Δ v, running wheels 2 at the front end and on the side closer to the steering direction, and traveling wheels 2 at the rear end and on the side closer to the steering directionThe speed of the running wheels 2 on the side far from the turning direction is adjusted to v0Δ v, so that the instantaneous steering origin O of the articulated frame 1 lies on a straight line passing through the articulation axis and perpendicular to the direction of advance.
A second steering method of the articulated four-wheel drive chassis of the embodiment is that, as shown in fig. 6, one end of one bracket 11 away from the articulation axis is the front end of the articulated frame 1, and the other end of the other bracket 11 away from the articulation axis is the rear end of the articulated frame 1; when the articulated vehicle frame 1 needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (2),
in the formula, v0The speed per hour of the walking of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 2, and L is the wheel track of the front and rear walking wheels 2;
then, the speed of each running wheel 2 is controlled by the independent rotation driving device, so that the speed of the running wheel 2 at the front end and at the side far away from the steering direction is adjusted to v0+ Δ v, the speed of the traveling wheel 2 at the front end and on the side close to the turning direction is adjusted to v0Δ v so that the instantaneous steering origin O of the articulated frame 1 is located on the axis of the rear running wheel 2.
A third steering method for the articulated four-wheel drive chassis of the embodiment is that, as shown in fig. 7, one end of one bracket 11 away from the articulation axis is the front end of the articulated frame 1, and the other end of the other bracket 11 away from the articulation axis is the rear end of the articulated frame 1; when the articulated vehicle frame 1 needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (3),
in the formula, v0The speed per hour of the walking of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 2, and L is the wheel track of the front and rear walking wheels 2;
then, the speed of each running wheel 2 is controlled by the independent rotation driving device, so that the speed of the running wheel 2 at the rear end and at the side far away from the steering direction is adjusted to v0Δ v, the speed of the running wheels 2 on the rear end and on the side closer to the direction of steering being adjusted to v0+ Δ v so that the instantaneous steering origin O of the articulated frame 1 is located on the axis of the front running wheels 2.
Since the running resistance of the front and rear running wheels 2 varies from moment to moment in the actual running situation, the turning running path of the articulated frame 1 cannot be determined if only the steering drive assembly is used to provide the steering force. The steering method controls steering by combining the driving of the steering driving assembly and actively adjusting the rotating speed of each walking wheel 2, can accurately limit the steering posture of the articulated frame 1, and realizes an accurate steering path of the articulated frame 1.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.
Claims (7)
1. A steering method based on an articulated four-wheel drive chassis is characterized in that: the articulated four-wheel drive chassis comprises an articulated vehicle frame (1) formed by articulating two supports (11), wherein each support (11) is provided with two walking wheels (2) driven by an independent rotation driving device, the four walking wheels (2) on the two supports (11) are positioned in the same plane, the articulation axes of the two supports (11) are superposed with the intersection points of two diagonals of an assumed rectangle, the four walking wheels (2) on the two supports (11) are respectively and correspondingly arranged on four corners of the assumed rectangle, and the articulated four-wheel drive chassis further comprises a steering driving assembly for driving the two supports (11) to rotate relatively;
the steering method is that one end of one bracket (11) far away from the hinge axis is the front end of the articulated frame (1), and the other end of the other bracket (11) far away from the hinge axis is the rear end of the articulated frame (1); when the articulated vehicle frame (1) needs to be steered in the process of straight forward walking, the two brackets (11) are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (2),
in the formula, v0The speed per hour of the walking of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels (2), and L is the wheel track of the front and rear walking wheels (2);
then the independent rotation driving device controls the rotation speed of each walking wheel (2) to adjust the speed of the walking wheel (2) at the front end and far away from the steering direction to v0+ delta v, the speed of the running wheels (2) at the front end and near the side of the steering direction is adjusted to v0- Δ v such that the instantaneous steering origin O of the articulated frame (1) is located on the axis of the rear running wheels (2).
2. The steering method according to claim 1, characterized in that: the steering drive assembly comprises a telescopic drive member (3) connected between two brackets (11).
3. The steering method according to claim 2, characterized in that: the telescopic driving piece (3) is an electric telescopic rod.
4. The steering method according to claim 3, characterized in that: be equipped with first spacing portion (101) on one support (11), be equipped with on another support (11) and be used for prescribing a limit to the second spacing portion (102) of two support (11) relative rotation angle scope with first spacing portion (101) cooperation, just electric telescopic handle is first spacing portion (101) and spacing portion (102) mutual contact of second before contracting to the shrink extreme position in order to prevent that two support (11) rotate relatively and force electric telescopic handle to continue to contract, electric telescopic handle is first spacing portion (101) and spacing portion (102) mutual contact of second before stretching out extreme position in order to prevent that two support (11) rotate relatively and force electric telescopic handle to continue to stretch out.
5. The steering method according to claim 1, characterized in that: two supports (11) are articulated each other through articulated subassembly, articulated subassembly is including locating on one of them support (11) a connecting plate (111) and locating two splint (112) of interval arrangement on another support (11) with can dismantle the mode, connecting plate (111) are inserted and are located between two splint (112), all install flat bearing (113) between each splint (112) and connecting plate (111).
6. The steering method according to claim 5, characterized in that: the hinge assembly further comprises a hinge positioning pin (114) and a locking cap (115), the hinge positioning pin (114) penetrates through the connecting plate (111), the two clamping plates (112) and all the plane bearings (113), one end of the hinge positioning pin (114) is provided with a limiting portion (1141) which is abutted to one of the clamping plates (112), the locking cap (115) is connected to the other end of the hinge positioning pin (114) through a fastener, and the locking cap (115) is abutted to the other clamping plate (112).
7. The steering method according to claim 1, characterized in that: the independent rotation driving device for driving each walking wheel (2) comprises a rotation driving part (4) and a secondary reduction gearbox (5), wherein the secondary reduction gearbox (5) is fixedly installed on a support (11), the driving end of the rotation driving part (4) is connected with the input shaft of the secondary reduction gearbox (5), and the walking wheels (2) are connected to the output shaft of the secondary reduction gearbox (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011109371.5A CN112339857B (en) | 2019-10-18 | 2019-10-18 | Steering method based on articulated four-wheel drive chassis |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910994178.5A CN110816660B (en) | 2019-10-18 | 2019-10-18 | Steering method of articulated four-wheel drive chassis |
| CN202011109371.5A CN112339857B (en) | 2019-10-18 | 2019-10-18 | Steering method based on articulated four-wheel drive chassis |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910994178.5A Division CN110816660B (en) | 2019-10-18 | 2019-10-18 | Steering method of articulated four-wheel drive chassis |
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| CN112339857A CN112339857A (en) | 2021-02-09 |
| CN112339857B true CN112339857B (en) | 2021-09-28 |
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| CN202011109371.5A Active CN112339857B (en) | 2019-10-18 | 2019-10-18 | Steering method based on articulated four-wheel drive chassis |
| CN201910994178.5A Active CN110816660B (en) | 2019-10-18 | 2019-10-18 | Steering method of articulated four-wheel drive chassis |
| CN202011109367.9A Active CN112339856B (en) | 2019-10-18 | 2019-10-18 | Steering method based on articulated four-wheel drive chassis |
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| CN201910994178.5A Active CN110816660B (en) | 2019-10-18 | 2019-10-18 | Steering method of articulated four-wheel drive chassis |
| CN202011109367.9A Active CN112339856B (en) | 2019-10-18 | 2019-10-18 | Steering method based on articulated four-wheel drive chassis |
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| CN113147896B (en) * | 2021-03-16 | 2022-08-09 | 江苏汇智高端工程机械创新中心有限公司 | Articulated steering distributed electric drive steering control method and system and loader |
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| DE9107488U1 (en) * | 1991-06-18 | 1991-08-29 | Hartig, Juergen, 3402 Niemetal, De | |
| JP3198402B2 (en) * | 1996-02-15 | 2001-08-13 | 新キャタピラー三菱株式会社 | Wheel vehicle steering system |
| US6283237B1 (en) * | 1999-06-01 | 2001-09-04 | Caterpillar Inc. | Method and apparatus for steering articulated machines using variable speed devices |
| IT1311770B1 (en) * | 1999-12-30 | 2002-03-19 | Fiat Ricerche | ELECTRIC STEERING DEVICE FOR AN ARTICULATED MACHINE, IN PARTICULAR EARTH-MOVING MACHINE, WITH WHEELS CONTROLLED BY MOTORS |
| DE10317302A1 (en) * | 2003-04-14 | 2004-10-28 | Dtu Deutsche Traktoren Union Gmbh | Agricultural tractor with articulated frame steering |
| ITMI20031562A1 (en) * | 2003-07-30 | 2005-01-31 | Bcs Spa | HIGH STEERING TRACTOR ARTICULATED. |
| CN201446983U (en) * | 2009-05-20 | 2010-05-05 | 朱红蔚 | Hinging type field operation vehicle chassis |
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| DE102010021178B3 (en) * | 2010-05-21 | 2011-11-24 | Neumaier Industry Gmbh & Co. Kg | Motor vehicle with steering knuckle and articulated steering |
| JP5498858B2 (en) * | 2010-05-27 | 2014-05-21 | 日立建機株式会社 | Wheel loader |
| CN103101453B (en) * | 2011-11-13 | 2016-08-03 | 晟通科技集团有限公司 | Integrated electric differential and speed governing centralized Control method and device thereof |
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| CN205872177U (en) * | 2016-07-14 | 2017-01-11 | 中国神华能源股份有限公司 | A turn to connecting device for mining dump truck |
| CN206718970U (en) * | 2017-04-01 | 2017-12-08 | 广西合浦县惠来宝机械制造有限公司 | Four-wheel drive articulated steering transport vehicle with front and back wheel differential lock |
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| CN208602317U (en) * | 2018-05-18 | 2019-03-15 | 长沙桑铼特农业机械设备有限公司 | A kind of radial type 4 wheel driven type tractor |
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2019
- 2019-10-18 CN CN202011109371.5A patent/CN112339857B/en active Active
- 2019-10-18 CN CN201910994178.5A patent/CN110816660B/en active Active
- 2019-10-18 CN CN202011109367.9A patent/CN112339856B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112339857A (en) | 2021-02-09 |
| CN112339856B (en) | 2021-09-28 |
| CN112339856A (en) | 2021-02-09 |
| CN110816660A (en) | 2020-02-21 |
| CN110816660B (en) | 2021-01-15 |
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