CN113682370A - Automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology - Google Patents
Automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology Download PDFInfo
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- CN113682370A CN113682370A CN202111162360.8A CN202111162360A CN113682370A CN 113682370 A CN113682370 A CN 113682370A CN 202111162360 A CN202111162360 A CN 202111162360A CN 113682370 A CN113682370 A CN 113682370A
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 17
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000009434 installation Methods 0.000 claims abstract description 18
- 230000005484 gravity Effects 0.000 claims abstract description 14
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
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Abstract
本发明公开了一种基于人工智能技术的自动避障式行走底盘结构，包括底板，底板上固定有安装框，且底板两端均安装有转轴，两个转轴两端分别安装有转动轮和滚轮，还包括转向机构和重心调节机构，用于转动轮进行转向实现避让的转向机构安装于底板上对应两个转动轮一端，避免在有坡度土堆上转向出现侧翻的重心调节机构安装于安装框内，本发明通过设计的转向机构和重心调节机构相互配合，使得底盘在移动到上坡路段进行转向时，能够对底盘内重心进行调节，避免出现翻车现象，从而使得在进行自动避让过程中，移动更加稳定。
The invention discloses an automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology. , It also includes a steering mechanism and a center of gravity adjustment mechanism. The steering mechanism for turning the wheel to achieve avoidance is installed on the bottom plate corresponding to one end of the two rotating wheels to avoid turning over on a sloped mound. The center of gravity adjustment mechanism is installed in the installation In the frame, the present invention cooperates with the designed steering mechanism and the center of gravity adjustment mechanism, so that when the chassis moves to the uphill section for steering, the center of gravity in the chassis can be adjusted to avoid the phenomenon of overturning, so that in the process of automatic avoidance, Movement is more stable.
Description
Technical Field
The invention relates to the technical field of automatic vehicle avoidance, in particular to an automatic obstacle avoidance type walking chassis structure based on an artificial intelligence technology.
Background
The automatic obstacle avoidance type walking chassis is a chassis capable of automatically steering and avoiding obstacles in the walking process, and the obstacle avoidance principle commonly used for obstacle avoidance vehicles is that ultrasonic waves are used for detecting the obstacles or contact probes are directly used for judging the obstacles, so that the vehicles are controlled to steer.
At present, it is more to keep away the place of barrier formula chassis application automatically, wherein the field application of mowing in the open air is more ripe, utilize automatic obstacle-avoiding car to join in marriage a lawn mower, can very convenient advance automatic mowing, but, when mowing in the open air, main barrier is trees, when keeping away barrier car and detecting trees and turn to, because the tree bottom soil of cultivation becomes the grade, thereby lead to when detecting the barrier and turning to, the car condition can appear overturning, for this reason, we provide one kind and keep away barrier formula walking chassis structure based on the automation of artificial intelligence technique.
Disclosure of Invention
The invention aims to provide an automatic obstacle avoidance type walking chassis structure based on an artificial intelligence technology, which can avoid overturning when automatic avoidance is carried out on an uphill road section, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic keep away barrier formula walking chassis structure based on artificial intelligence technique, includes the bottom plate, be fixed with the installing frame on the bottom plate, just the pivot is all installed at the bottom plate both ends, and rotation wheel and gyro wheel are installed respectively at two pivot both ends, still include steering mechanism and focus adjustment mechanism, are used for rotate the wheel and turn to the realization and dodge steering mechanism install in correspond two on the bottom plate rotate wheel one end, avoid turning to appearing turning on one's side on having slope soil to pile focus adjustment mechanism installs in the installing frame.
Preferably, focus adjustment mechanism including install in the bottom plate front end is used for slope to judge used determine module and accommodate motor, accommodate motor install in on the inner wall of installing frame one side, just the accommodate motor output through the shaft coupling be fixed with installing frame opposite side inner wall rotates the accommodate the lead screw of connecting, accommodate the lead screw outside screw thread has cup jointed and has removed the track board, remove on the track board slide peg graft have two with the fixed slide bar of installing frame both sides inner wall, and remove track board outside sliding sleeve has the back-and-forth movement pouring weight, center adjusting part about installing on the bottom plate, realize carrying out the focus through focus adjustment mechanism and adjust the chassis when the upslope highway section, avoid the turnover.
Preferably, control central adjusting part including install in removal axle on the bottom plate, remove epaxial slip grafting and have control pouring weight about, control pouring weight outer end and remove the track board outer end and be fixed with the linkage subassembly of mutual adaptation, just it has the counterpoint groove to control pouring weight surface to open about, back-and-forth movement pouring weight bottom is fixed with the counterpoint strip with counterpoint groove looks adaptation, carries out the focus regulation when satisfying the uphill turn through controlling central adjusting part, avoids the rollover.
Preferably, the linkage subassembly is including fixing the carriage arm in controlling the removal pouring weight outer end, the mobile arm internal thread is pegged graft and is had the removal lead screw, just remove the lead screw both ends and all rotate and install the backup pad fixed mutually with the bottom plate, it all is fixed with the link gear to remove the lead screw both ends, it is fixed with the installation arm to remove the track board outside, and installs the arm outer end and rotate and install the universal driving shaft, the universal driving shaft both ends all be fixed with the drive gear of link gear looks adaptation, just the universal driving shaft middle part is fixed with driven gear, correspond the position department that removes lead screw intermediate position bottom on the bottom plate and install infrared sensor, when realizing turning to the rotating wheel through the linkage subassembly, can drive central adjustment mechanism and remove.
Preferably, the detecting component is including fixing the mounting panel at the bottom plate front end, the mounting panel both ends slide to peg graft and have the spliced pole, and pass through the spliced pole is fixed with the U template, spliced pole outside cover has buffer spring, contact wheel is installed through the pivot to U template bottom, just U template top is fixed with the arch, the mounting panel bottom be fixed with the pressure sensor of protruding looks adaptation realizes detecting the uphill road section through detecting component to the convenience carries out focus to it and adjusts.
Preferably, steering mechanism is including turning to the lead screw, it has the installing port to open on the bottom plate, just turn to lead screw both ends screw thread and run through the installing port both ends to be fixed with the linking arm, it has the spacing groove to turn to the lead screw outside and open, and turns to lead screw outside cover and have the adjusting gear cover, be fixed with the spacing of with spacing groove looks adaptation in the adjusting gear cover, and adjusting gear cover both ends all rotate through the bearing and install the fixed plate of fixing in the installing port, install the driving piece with adjusting gear cover engaged with on the bottom plate, utilize steering mechanism to realize turning to the wheel, when going uphill highway section, can also link focus adjustment mechanism and adjust simultaneously.
Preferably, the driving piece is including fixing the mounting bracket on the bottom plate, driving motor is installed to mounting bracket one side, just the driving motor output is fixed with the first drive gear that is located the mounting bracket through the shaft coupling, just the mounting bracket top is rotated and is installed second drive gear, first drive gear with meshing cover has been cup jointed first profile of tooth area between the second drive gear, just second drive gear with it has second profile of tooth area to adjust gear sleeve outside cover, second drive gear with the driven gear looks adaptation of universal driving shaft middle part realizes providing through the driving piece and turns to power.
Preferably, the connecting arm cup joints the connecting seat in the lead screw outer end including rotating, the connecting seat internal fixation has the sliding shaft, just the sliding shaft outside slides and has cup jointed the carriage release lever, the carriage release lever outer end articulates there is the movable block, the connecting seat with the installation mouth slides the joint, realizes adjusting the rotation of directive wheel through the connecting arm.
Preferably, the rotating wheel comprises a connecting ball fixed on the outer side of the rotating shaft, a rotating ring is slidably adjusted on the outer side of the connecting ball, a moving groove matched with the moving block is formed in one side of the rotating ring, a plurality of limiting openings are formed in the outer side of the connecting ball, a plurality of sliding blocks matched with the limiting openings are fixed in the rotating ring, and the rotating wheel is designed to enable the rotating wheel to be more stable in steering.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the designed steering mechanism and the gravity center adjusting mechanism are mutually matched, so that when the chassis moves to an uphill road section for steering, the gravity center in the chassis can be adjusted, the phenomenon of overturning is avoided, and the chassis moves more stably in the automatic avoidance process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a partial cross-sectional internal structure of the mounting frame of the present invention;
FIG. 3 is a partial cross-sectional view of the internal structure of the present invention;
FIG. 4 is a schematic structural view of the positional relationship between the steering mechanism and the center of gravity adjusting mechanism according to the present invention;
FIG. 5 is a schematic diagram of the position relationship of the alignment bar according to the present invention;
FIG. 6 is a schematic view of the steering mechanism of the present invention;
FIG. 7 is an enlarged view taken at A in FIG. 6;
FIG. 8 is a schematic view of a linkage assembly partially connected to a driving member according to the present invention;
FIG. 9 is a schematic view of the driving member of the present invention;
FIG. 10 is an enlarged view of FIG. 9 at B;
FIG. 11 is a schematic view of a connecting arm according to the present invention;
FIG. 12 is a schematic view of a detecting assembly according to the present invention.
In the figure: 1-a bottom plate; 2, mounting a frame; 3-a rotating wheel; 4-a roller; 5-a steering mechanism; 6-a center of gravity adjustment mechanism; 7-a detection component; 8-adjusting the motor; 9-adjusting the screw rod; 10-moving the track slab; 11-a slide bar; 12-moving the weight back and forth; 13-left and right center adjustment assembly; 14-a movement axis; 15-moving the weight left and right; 16-a linkage assembly; 17-a register slot; 18-alignment bar; 19-a moving arm; 20-moving the screw rod; 21-a support plate; 22-a linkage gear; 23-a mounting arm; 24-a linkage shaft; 25-a transmission gear; 26-a driven gear; 27-a mounting plate; 28-connecting column; 29-U-shaped plate; 30-a buffer spring; 31-a contact wheel; 32-protrusions; 33-a steering screw; 34-a mounting port; 35-a linker arm; 36-a limiting groove; 37-adjusting gear sleeve; 38-a stop bar; 39-fixing plate; 40-a driver; 41-a mounting frame; 42-a drive motor; 43-a first drive gear; 44-a second drive gear; 45-a first toothed belt; 46-a second toothed belt; 47-a connecting seat; 48-a sliding shaft; 49-moving the rod; 50-a moving block; 51-a connecting ball; 52-a rotating ring; 53-moving the trough; 54-a limit port; 55-sliding block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-3, an automatic obstacle avoidance type walking chassis structure based on an artificial intelligence technology in the drawings comprises a bottom plate 1, a mounting frame 2 is fixed on the bottom plate 1, rotating shafts are mounted at two ends of the bottom plate 1, rotating wheels 3 and rollers 4 are mounted at two ends of the two rotating shafts respectively, a steering mechanism 5 and a gravity center adjusting mechanism 6 are further included, the steering mechanism 5 for enabling the rotating wheels 3 to steer to achieve avoidance is mounted on the bottom plate 1 and corresponds to one end of each of the two rotating wheels 3, and the gravity center adjusting mechanism 6 for preventing the rotating wheels from turning over on a slope soil pile and turning over on the slope soil pile is mounted in the mounting frame 2.
It should be noted that: in the scheme, a driving part for driving the roller 4 is arranged at the bottom of the bottom plate 1 and a gap between the bottom plate 1 and the mounting frame 2.
In this embodiment, please refer to fig. 2-5, a center-of-gravity adjusting mechanism 6 in the figure includes a detecting component 7 and an adjusting motor 8 installed at the front end of the bottom plate 1 for determining a slope, the adjusting motor 8 is installed on an inner wall of one side of the installation frame 2, an output end of the adjusting motor 8 is fixed with an adjusting screw 9 rotatably connected with an inner wall of the other side of the installation frame 2 through a coupling, a moving track plate 10 is sleeved on an outer side of the adjusting screw 9 through a thread, two sliding rods 11 fixed with inner walls of two sides of the installation frame 2 are slidably inserted into the moving track plate 10, a front-and-back moving weight 12 is slidably sleeved on an outer side of the moving track plate 10, and a left-and-right center adjusting component 13 is installed on the bottom plate 1;
referring to fig. 12, the detection assembly 7 in the figure includes a mounting plate 27 fixed at the front end of the base plate 1, connecting posts 28 are inserted at two ends of the mounting plate 27 in a sliding manner, a U-shaped plate 29 is fixed through the connecting posts 28, a buffer spring 30 is sleeved outside the connecting posts 28, a contact wheel 31 is installed at the bottom end of the U-shaped plate 29 through a rotating shaft, a protrusion 32 is fixed at the top of the U-shaped plate 29, and a pressure sensor matched with the protrusion 32 is fixed at the bottom of the mounting plate 27;
it should be noted that: when the mowing vehicle provided with the bottom plate 1 automatically moves to mow, and moves to an uphill road section planted with trees, the mowing vehicle firstly ascends the slope and then detects the trees to automatically avoid, when the mowing vehicle drives the uphill road section, at the moment, the contact wheel 31 is in contact with the slope and drives the U-shaped plate 29 to move upwards, the protrusion 32 is driven to extrude the pressure sensor, so that the adjusting motor 8 rotates, the adjusting screw rod 9 is driven to rotate, the moving track plate 10 moves on the sliding rod 11, the back-and-forth movement weight 12 moves forwards, the gravity center of the mowing vehicle moves forwards, and the uphill is more stable.
Referring to fig. 4 and 5, the left and right center adjusting assembly 13 in the figure includes a moving shaft 14 installed on the bottom plate 1, a left and right moving weight 15 is slidably inserted on the moving shaft 14, a mutually adaptive linkage assembly 16 is fixed at the outer end of the left and right moving weight 15 and the outer end of the moving track plate 10, an alignment groove 17 is formed on the surface of the left and right moving weight 15, and an alignment bar 18 adapted to the alignment groove 17 is fixed at the bottom of the front and rear moving weight 12.
Meanwhile, referring to fig. 4 and 8, in the drawings, the linkage assembly 16 includes a moving arm 19 fixed in the outer end of the left and right moving weight 15, a moving screw rod 20 is inserted into an internal thread of the moving arm 19, support plates 21 fixed to the bottom plate 1 are rotatably installed at both ends of the moving screw rod 20, linkage gears 22 are fixed to both ends of the moving screw rod 20, an installation arm 23 is fixed to the outer side of the moving track plate 10, a linkage shaft 24 is rotatably installed at the outer end of the installation arm 23, transmission gears 25 matched with the linkage gears 22 are fixed to both ends of the linkage shaft 24, a driven gear 26 is fixed to the middle portion of the linkage shaft 24, and an infrared sensor is installed at a position on the bottom plate 1 corresponding to the bottom end of the middle position of the moving screw rod 20.
In this embodiment, please refer to fig. 6 to 8, a steering mechanism 5 in the drawings includes a steering screw 33, a mounting opening 34 is formed on the bottom plate 1, two threads of the steering screw 33 penetrate through two ends of the mounting opening 34 and are fixed with a connecting arm 35, a limiting groove 36 is formed on the outer side of the steering screw 33, an adjusting gear sleeve 37 is sleeved on the outer side of the steering screw 33, a limiting bar 38 adapted to the limiting groove 36 is fixed in the adjusting gear sleeve 37, two ends of the adjusting gear sleeve 37 are both rotatably mounted with a fixing plate 39 fixed in the mounting opening 34 through a bearing, and a driving member 40 engaged with the adjusting gear sleeve 37 is mounted on the bottom plate 1.
Referring to fig. 9, a driving member 40 in the figure includes an installation frame 41 fixed on a bottom plate 1, a driving motor 42 is installed at one side of the installation frame 41, an output end of the driving motor 42 is fixed with a first driving gear 43 located in the installation frame 41 through a coupling, a second driving gear 44 is rotatably installed at a top end of the installation frame 41, a first toothed belt 45 is engaged and sleeved between the first driving gear 43 and the second driving gear 44, a second toothed belt 46 is sleeved outside the second driving gear 44 and the adjusting gear sleeve 37, and the second driving gear 44 is adapted to a driven gear 26 at a middle portion of the linkage shaft 24.
It should be noted that: when an obstacle needs to be avoided, an avoidance designation is sent by the mowing vehicle at the moment to drive the driving motor 42 to rotate, the first driving gear 43 and the second driving gear 44 rotate under the action of the first toothed belt 45, and the adjusting gear sleeve 37 is driven to rotate through the second toothed belt 46, so that the steering screw rod 33 rotates, the steering screw rod 33 moves left and right in the mounting opening 34, the connecting arm 35 is driven to rotate the rotating wheel 3, and steering is achieved;
it is worth noting that: when the weight 12 moves to the front end on an uphill road section, the driven gear 26 in the linkage assembly 16 is meshed with the second driving gear 44 at the moment, so that the linkage shaft 24 is driven to rotate, the transmission gear 25 drives the linkage gear 22 to rotate, the weight 15 moves left and right when the rotating wheel 3 of the vehicle rotates left, and the weight 15 moves right when the rotating wheel 3 of the vehicle rotates right, otherwise, the weight 15 moves left when the rotating wheel 3 of the vehicle rotates right, so that the center of gravity of the mowing vehicle is adjusted, and the mowing vehicle is stably adjusted on the uphill road section.
In this scheme, when the car of mowing dodges and turns to steady highway section, rotate control through driving motor 42 this moment and rotate wheel 3 and just, make removal arm 19 get back to the intermediate position department of bottom plate 1 simultaneously, can trigger infrared sensor this moment for the reversal of accommodate motor 8 lets back-and-forth movement pouring weight 12 reset, turns to when conveniently meetting the uphill highway section next time and dodges.
In the scheme, the type of the drive motor 42 is preferably Y80M1-2, the type of the adjusting motor 8 is preferably Y80M2-2, a power supply interface of the motor is connected with a power supply system through a switch, a motor operation circuit is a normal and reverse rotation control program of a conventional motor, the circuit operates as a conventional circuit, circuits and control related to the scheme are the prior art, and redundant description is not repeated herein.
Example 2
Referring to fig. 6 to 8, in this embodiment, as further described in embodiment 1, the steering mechanism 5 in the figure includes a steering screw 33, a mounting opening 34 is formed on the bottom plate 1, two ends of the steering screw 33 are threaded through two ends of the mounting opening 34 and are fixed with a connecting arm 35, a limiting groove 36 is formed on the outer side of the steering screw 33, an adjusting gear sleeve 37 is sleeved on the outer side of the steering screw 33, a limiting bar 38 adapted to the limiting groove 36 is fixed in the adjusting gear sleeve 37, two ends of the adjusting gear sleeve 37 are both rotatably mounted with a fixing plate 39 fixed in the mounting opening 34 through a bearing, and a driving member 40 engaged with the adjusting gear sleeve 37 is mounted on the bottom plate 1;
referring to fig. 11, the connecting arm 35 shown in the figure includes a connecting seat 47 rotatably sleeved on the outer end of the steering screw 33, a sliding shaft 48 is fixed in the connecting seat 47, a moving rod 49 is slidably sleeved on the outer side of the sliding shaft 48, a moving block 50 is hinged on the outer end of the moving rod 49, and the connecting seat 47 is slidably clamped with the mounting opening 34.
In this embodiment, the steering screw 33 rotates to move left and right in the mounting opening 34, so that the steering screw pushes the two connecting arms 35 to adjust the rotating wheel 3, thereby realizing steering operation.
Example 3
Referring to fig. 6 and 7, in this embodiment, for further explanation of other embodiments, the rotating wheel 3 in the figure includes a connecting ball 51 fixed on the outer side of the rotating shaft, a rotating ring 52 is slidably adjusted on the outer side of the connecting ball 51, a moving groove 53 adapted to the moving block 50 is formed on one side of the rotating ring 52, a plurality of limiting openings 54 are formed on the outer side of the connecting ball 51, and a plurality of sliding blocks 55 adapted to the limiting openings 54 are fixed in the rotating ring 52.
It should be noted that: optimize current and rotate the wheel 3 structure, mutually support through connecting ball 51 and swivel 52 to make swivel 52 when playing the rotation direction, can also satisfy its rotation, also make the regulation more convenient.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162360.8A CN113682370A (en) | 2021-09-30 | 2021-09-30 | Automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162360.8A CN113682370A (en) | 2021-09-30 | 2021-09-30 | Automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology |
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| Publication Number | Publication Date |
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| CN113682370A true CN113682370A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111162360.8A Withdrawn CN113682370A (en) | 2021-09-30 | 2021-09-30 | Automatic obstacle avoidance type walking chassis structure based on artificial intelligence technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407756A (en) * | 2022-02-21 | 2022-04-29 | 江苏淮电电动平车有限公司 | Trackless electric flat carriage and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000280920A (en) * | 1999-04-01 | 2000-10-10 | Showa Corp | Electric power steering device |
| DE102012204376A1 (en) * | 2011-03-23 | 2012-09-27 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Circulating ball power steering system |
| CN106515879A (en) * | 2016-11-11 | 2017-03-22 | 重庆理工大学 | Automobile cargo carrying center of gravity adjusting mechanism |
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
| CN112249176A (en) * | 2020-10-28 | 2021-01-22 | 湖南汽车工程职业学院 | Auxiliary device for improving driving and braking smoothness of automobile on ramp |
-
2021
- 2021-09-30 CN CN202111162360.8A patent/CN113682370A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000280920A (en) * | 1999-04-01 | 2000-10-10 | Showa Corp | Electric power steering device |
| DE102012204376A1 (en) * | 2011-03-23 | 2012-09-27 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Circulating ball power steering system |
| CN106515879A (en) * | 2016-11-11 | 2017-03-22 | 重庆理工大学 | Automobile cargo carrying center of gravity adjusting mechanism |
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
| CN112249176A (en) * | 2020-10-28 | 2021-01-22 | 湖南汽车工程职业学院 | Auxiliary device for improving driving and braking smoothness of automobile on ramp |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407756A (en) * | 2022-02-21 | 2022-04-29 | 江苏淮电电动平车有限公司 | Trackless electric flat carriage and using method thereof |
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Application publication date: 20211123 |