CN201472056U - Embedded straight tooth reversing Mecanum wheel - Google Patents
Embedded straight tooth reversing Mecanum wheel Download PDFInfo
- Publication number
- CN201472056U CN201472056U CN2009202357249U CN200920235724U CN201472056U CN 201472056 U CN201472056 U CN 201472056U CN 2009202357249 U CN2009202357249 U CN 2009202357249U CN 200920235724 U CN200920235724 U CN 200920235724U CN 201472056 U CN201472056 U CN 201472056U
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Abstract
The utility model relates to an embedded straight tooth reversing Mecanum wheel, which comprises a Mecanum wheel body, a braced system is arranged in the Mecanum wheel body, the Mecanum wheel body is connected with the braced system in a rotating mode, the inner wall of the Mecanum wheel body is provided with an annular gear flange, the braced system is provided with a power input shaft which is positioned in the rotation center of the Mecanum wheel body, a reverse free sun gear and a homodromous free sun gear are sleeved on the power input shaft, the power input shaft is bonded with a reversing mechanism, the braced system is connected with a reverse transmission gear, a first homodromous transmission gear and a second homodromous transmission gear in a rotating mode, the reverse transmission gear is respectively meshed with the reverse free sun gear and the annular gear flange, the first homodromous transmission gear is respectively meshed with the homodromous free sun gear and the second homodromous transmission gear, and the second homodromous transmission gear is also meshed with the annular gear flange.
Description
Technical field
The utility model belongs to the Vehicle Engineering field, is a kind of comprehensive mobile wheel, a kind of specifically embedded type straight gear reversing Mecanum wheel.Simultaneously, also belong to robot and automatic field, relate to comprehensive plane mobile robot technology.
Background technology
Mecanum wheel (Mecanum Wheel) is a kind of comprehensive mobile wheel, and 1973 by Swiss Bengt Lion utility model, thus also be Lion wheel, and he works in Mecanum AB company.These characteristics of taking turns are on the basis of conventional wheel, and again along with axis direction at 45 some small rollers that can rotate freely being installed, when wheel rolling, small roller will produce sideway movement like this on wheel rim.By being used in combination and controlling of Mecanum wheel, any direction that car body is produced in the plane of movement moves and rotates.
1975, Lion obtains the US Patent (patent No. 3,746,112, directly stablize self-driving vehicle, " Directionally Stable Self Propelled Vehicle "), United States Navy in 1980 buy the march thing application and development of going forward side by side of this patent, after this patent in 1996 lost efficacy, the numerous universities in the U.S. and the world, research institution and company carried out application and development and utility model again, and application relates to comprehensive mobile fork truck, transport trolley, wheelchair, ammunition truck, mobile robot etc.
After adopting comprehensive mobile technology, can significantly improve handling efficiency and alerting ability, reduce goods storage space 20%～30%, especially for the small space mobile object, have the effect of not replacing.At present, successful example application has the comprehensive mobile fork truck of Sidewinder, the comprehensive mobile lift of COBRA, the comprehensive carrying trailer of MP2, the comprehensive ammunition elevating conveyor of U.S. AirTrix company; Products such as the all-directional mobile wheel chair of the comprehensive robot of Carnegie Mellon University, U.S. Ominx company, the comprehensive movable support bracket of jet engine.The numerous universities in the world that comprise China have also carried out the application and the control research of Mecanum wheel, but focus mostly on applied research aspect the mobile robot, form product seldom.
The patent that relates to the Mecanum omni-directional moving mechanism at present has:
1, the US Patent of Switzerland Lion " is directly stablized self-driving vehicle " (U.S.Pat.No.3746112,, " Directionally Stable Self Propelled Vehicle "), at first utility model the Mai Kenamu wheel.
2, the US Patent of U.S. AirTrix company " low vibration directional wheel " (U.S.Pat.No.6340065, with 6547340, " Low Vibration Omni-Directional Wheel "), US Patent " low vibration directional wheel method of designing " (U.S.Pat.No.6394203, " Method for designing low-vibrationOmni-Directional Wheels "), US Patent " the comprehensive self-driving vehicle of ground handling equipment " (U.S.Pat.No.5701966, " Omni-Directional self-propelled vehicle for ground handling ofequipment ") on the basis of Lion, under loading, Yin Maikenamu wheel roller and contact area of ground change and cause elastic deformation inhomogeneous, the car body up-down vibration that causes, utility model low noise directional wheel and method of designing thereof, and this technology applied to ground handling trolley design.
3, US Patent " comprehensive weapon loading vehicle " (US Pat.No.6668950, " Omni-directionalmunitions handling vehicle "), US Patent " aircraft maintenance device and service procedure " (US Pat.No.6477730, " Aircraft maintenance apparatus and method of maintaining aircraft "), the US Patent of applying for " advanced weaponry filler " (US Pat.App.No.EP20050472003, " Advanced weapons loader "), all be the utility model that the Mai Kenamu wheel is applied to all kinds of mobile carrying equipments.
4, the patent that domestic all-directional wheel is relevant has:
The honor of Harbin Institute of Technology Yan state; Zhang Haibing " a kind of directional wheel " (01209535.4), the cold spring great waves of Shanghai Communications University; Cao Qixin; Wang Meiling; Liu Weihao, " directional wheel " (200610024277.3) and the Hai Dan of the National University of Defense Technology; Liu Yupeng; Zheng Zhiqiang; Osiery; The season Xiucai; " omnidirectional's wheel " (200520052595.1) of Liu Fei all are a kind of variations to vertical small roller omnidirectional wheel, are not Mecanum wheels.
In addition, some articles about the motion control of Mai Kenamu wheel are arranged abroad, as:
1.Dickerson，S.L.；Lapin，B.D.(1991).Control?of?an?omni-directional?robotic?vehiclewith?Mecanum?wheels.In：National?Telesystems?Conference?Proceedings，pp.323-328，March?26-27，1991，Atlanta，USA.
2.Nagatani，K.；Tachibana，S.et?al.(2000).Improvement?of?odometry?for?omni-directional?vehicle?using?optical?flow?information.In：Proceedings?of?IEEE/RSJ?Int.Conference?on?Intelligent?Robots?and?Systems，pp.468-473，Oct?30-Nov?5，2000，Takamatsu，Japan.
3.Francois?Pin：″A?New?Family?of?Omnidirectional?and?Holonomic?Platforms?for?MobileRobots，″IEEE?Trans.On?Robotics?and?Automation，Aug.1994，vol.10，No.4
Domestic Harbin Institute of Technology robot the unit of grade carried out based on the research of all directionally movable robot of Mecanum wheel, but domestic paper about Mecanum wheel research is less.
At present, international omni-directional moving mechanism based on Mecanum wheel all adopts four motor-driven and carries out the rotating speed accuracy control, drives four wheels then respectively and rotate after slowing down, and realizes the comprehensive mobile of car body.Owing to adopt four motors to drive respectively, change motor speed by electronic speed regulation, thereby change the running velocity of car body, the driving torque in the time of can not improving low speed.Will change the driving torque of drive wheel by speed change as common centralized driving vehicle, thereby improve climbing, the acceleration capacity of car body, then physical construction is complicated unusually, is difficult to realize.Simultaneously,, need accurately feed back each motor speed and measure and control because four motor speeds need accuracy control, coordination, circuit and algorithm more complicated, reliability reduces, cost improves.Owing to adopt drive of motor control, when high-power engineering was used, motor and battery cost, weight significantly improved in addition.Complex engineering working environment, an urgent demand can adopt combustion engine and other power operated comprehensive vehicle movement technology, and the utility model promptly is for this purpose and design-calculated.
The utility model content
The utility model at existing based on Mecanum wheel all directionally movable robot drive configuration and control system complexity, can only use motor-driven and can not effectively utilize drive motor the workmanship ability, can not use problems such as efficient propulsion source such as combustion engine.The utility model provides a kind of embedded type straight gear reversing Mecanum wheel, by the embedded straight-tooth reversing arrangement of external control signal control, according to the omnibearing movable requirement, makes Mecanum wheel and input shaft equidirectional or opposite sense rotate.
Like this, by four embedded type straight gear reversing Mecanum wheel motion combinations, realize the advancing of car body, retreat, left, to the right, the motion in ten orientation such as left front 45 °, left back 45 °, right front 45 °, right back 45 °, original place cw return, original place turning anticlockwise, and can finish in the predetermined plane and move by these motion combinations.
The utility model adopts following technical scheme:
A kind of embedded type straight gear reversing Mecanum wheel, comprise the Mecanum wheel body, the Mecanum wheel body interior be provided with braced system and and Mecanum wheel body and braced system be rotationally connected, the inwall of Mecanum wheel body is provided with the internally toothed annulus wheel rim, on braced system, be provided with the center of gyration that power input shaft and power input shaft are positioned at the Mecanum wheel body, on power input shaft, be set with reverse empty cover sun gear and empty in the same way cover sun gear, bonding is useful on the direction reverser that the transmission of power of ultromotivity input shaft is in the future given oppositely empty cover sun gear or empty in the same way cover sun gear on power input shaft, on described braced system, be rotatably connected to the reverse drive gear, first transmission gear and second transmission gear in the same way in the same way, and, described reverse drive gear is meshed with reverse empty cover sun gear and internally toothed annulus wheel rim respectively, described first in the same way transmission gear respectively with empty in the same way cover sun gear and second in the same way transmission gear be meshed, described second in the same way transmission gear also be meshed with the internally toothed annulus wheel rim.
The utility model is between input shaft and Mecanum wheel, design two straight gear messenger chains of transmission in the same way and reverse drive, and guarantee that the transmitting ratio of two messenger chains is identical, control by the external control device, select employed messenger chain, thus the rotation direction of control Mecanum wheel.For making design-calculated Mecanum wheel compact conformation, these two messenger chain designs between input shaft and Mecanum wheel, are formed embedded structure.Designed embedded type straight gear reversing Mecanum wheel comprises input shaft 2, slip commutation board 4, empty in the same way cover sun gear 12, reverse empty cover sun gear 5, first transmission gear 11, second transmission gear 10, reverse drive gear 6, internally toothed annulus wheel rim 7, some Mecanum roller mounting brackets 9, some Mecanum rollers 8 in the same way in the same way.Wherein, internally toothed annulus wheel rim 7 constitutes Mecanum wheel with some Mecanum roller mounting brackets 9, some Mecanum rollers 8, and input shaft 2 is positioned on this Mecanum wheel axis, and is coaxial with internally toothed annulus wheel rim 7; First in the same way transmission gear 11, second transmission gear 10 is between empty in the same way cover sun gear 12 and internally toothed annulus wheel rim 7 and form engaged transmission chain in the same way in the same way, reverse drive gear 6 overlaps between sun gear 5 and the internally toothed annulus wheel rim 7 and forms reverse engaged transmission chain oppositely empty; Engaged transmission chain and reverse engaged transmission chain in the same way are positioned over the included cylinder inside of internally toothed annulus wheel rim 7 side by side along axis direction.
Empty in the same way cover sun gear 12, reverse empty cover sun gear 5 sky respectively are enclosed within on the input shaft 2, when not engaging with slip commutation board 4, can rotate relatively freely with input shaft 2.Slip commutation board 4 connects with input shaft 2 rotations by slip flat key 1 or spline, and can moving axially at operating control 13 control lower edge input shafts 2.Slip commutation board 4 can be under the control of operating control 13, and shifting in the same way, sky overlaps sun gear 12 or oppositely empty cover sun gear 5 and engages and synchronous the rotation.
The rotation of input shaft 2, pass to slip commutation board 4 by slide key 1, externally in the same way under the signal control, slip commutation board 4 engages with empty in the same way cover sun gear 12 and empty in the same way cover sun gear 12 is rotated, through first transmission gear 11, second transmission gear 10 in the same way in the same way, drive internally toothed annulus wheel rim 7, Mecanum roller bracket 9 and Mecanum roller 8 and input shaft 2 equidirectional rotations; At this moment, internally toothed annulus wheel rim 7 dallies on input shaft 2 by the oppositely empty cover sun gear 5 of reverse drive gear 6 drives again.
The rotation of input shaft 2, pass to slip commutation board 4 by slide key 1, externally reverse signal control down, slip commutation board 4 engages and makes reverse empty cover sun gear 5 rotations with reverse empty cover sun gear 5, through reverse drive gear 6, drive internally toothed annulus wheel rim 7, Mecanum roller bracket 9 and Mecanum roller 8 and input shaft 2 counter-rotation; At this moment, internally toothed annulus wheel rim 7 again by second in the same way transmission gear 10, first in the same way transmission gear 11 drive empty in the same way cover sun gear 12 and on input shaft 2, dally.
In the utility model, the internally toothed annulus of internally toothed annulus wheel rim 7 is single interior straight gear.Empty in the same way cover sun gear 12 is with oppositely empty cover sun gear 5 numbers of teeth are identical, and modulus is identical, and all is straight gear.
The operating control 13 of slip commutation board 4 can be hydraulic-driven, pneumatic or Electromagnetic Drive.
Compared with prior art, the utlity model has following advantage:
Adopt the designed comprehensive moving body of embedded type straight gear reversing Mecanum wheel of the present utility model, can concentrate and adopt a drive power source, do not need the rotating speed of each wheel is carried out accuracy control, can realize that the plane that needs is comprehensive mobile.Therefore, can simplify the control system of comprehensive moving body, and can adopt traditional various efficient rotational power source, as combustion engine, various motor, fluid drives rotary machine etc., improve greatly comprehensive vehicle reliability, reduce it and make maintenance cost.Mecanum wheel body and the braced system of the utility model by being rotationally connected mutually, commutation, transmission of power and Mecanum wheel body are integrated, make the three form an integral, also make and the utlity model has that volume is little, the advantage of compact conformation, simultaneously, this structure of the present utility model helps to simplify employing comprehensive Trolley of the present utility model, makes its structure compact more.
Description of drawings
Fig. 1 is a kinematic sketch of mechanism of the present utility model.
Fig. 2 is for having a kind of axial plane arrangement plan of two forward messenger chains, two reverse drive chains in the utility model.
Fig. 3 is the utility model embedded type straight gear reversing Mecanum structure axial plane cutaway view.
Fig. 4 is the utility model embedded type straight gear reversing Mecanum structure front elevation.
Fig. 5 is the utility model embedded type straight gear reversing Mecanum axonometric drawing.
In the accompanying drawing 1
1-slide key 2-input shaft 3-input gear 4-slip commutation board
The oppositely empty cover sun gear of 5-6-reverse drive gear 7-internally toothed annulus wheel rim
8-Mecanum roller 9-Mecanum roller mounting bracket 10-second is transmission gear in the same way
11-first is the empty in the same way cover sun gear of transmission gear 12-13-operating control in the same way
In the accompanying drawing 3
The right wheel cap s2-of s1-thrust baring s3-spring s4-angular contact bearing
The right deep groove ball bearing of s5-driving gearshaft s6-transmission gear bearing s7-
S8-left side deep groove ball bearing s9-intermediate hsg s10-angular contact bearing
S11-deep groove ball bearing s12-revolver lid s13-intermediate hsg pillar
The specific embodiment
A kind of embedded type straight gear reversing Mecanum wheel, comprise the Mecanum wheel body, the Mecanum wheel body interior be provided with braced system and and Mecanum wheel body and braced system be rotationally connected, the inwall of Mecanum wheel body is provided with internally toothed annulus wheel rim 7, on braced system, be provided with the center of gyration that power input shaft 2 and power input shaft 2 are positioned at the Mecanum wheel body, on power input shaft 2, be set with reverse empty cover sun gear 5 and empty in the same way cover sun gear 12, bonding is useful on the direction reverser that the transmission of power of ultromotivity input shaft 2 is in the future given oppositely empty cover sun gear 5 or empty in the same way cover sun gear 12 on power input shaft 2, on described braced system, be rotatably connected to reverse drive gear 6, first transmission gear 11 and second transmission gear 10 in the same way in the same way, and, described reverse drive gear 6 is meshed with reverse empty cover sun gear 5 and internally toothed annulus wheel rim 7 respectively, described first in the same way transmission gear 11 respectively with empty in the same way cover sun gear 12 and second in the same way transmission gear 10 be meshed, described second in the same way transmission gear 10 also be meshed with internally toothed annulus wheel rim 7.The utility model adopted be set with reverse empty cover sun gear 5, empty in the same way cover sun gear 12, reverse drive gear 6, first in the same way transmission gear 11 and second transmission gear 10 and internally toothed annulus wheel rim 7 have formed the relatively independent transmission of two-way in the same way, realized commutation, certainly, where necessary, can also recently realize the retarder function by selecting suitable transmission.
In the present embodiment:
Direction reverser comprises the slip commutation board 4 that is bonded on the power input shaft 2, is connected with to be used for the operating control 13 that slip commutation board 4 and oppositely empty cover sun gear 5 or empty in the same way cover sun gear 12 offseted by push-and-pull slip commutation board 4 on slip commutation board 4.
The Mecanum wheel body comprises several Mecanum roller mounting brackets 9, is provided with Mecanum roller 8 on Mecanum roller mounting bracket 9, and described internally toothed annulus wheel rim 7 is located on the Mecanum roller mounting bracket 9.
With reference to Fig. 3, braced system is made up of interconnective right wheel cap s1, intermediate hsg s9 and revolver lid s12.On described braced system, be rotatably connected to reverse drive gear 6, first in the same way transmission gear 11 and second specific implementation of transmission gear 10 is a lot of in the same way, for example: first in the same way transmission gear 11 and second on the transmission gear 10 first transmission gear rotating shaft and the second transmission gear rotating shaft in the same way in the same way is set respectively in the same way, first in the same way transmission gear 11 and second in the same way transmission gear 10 just can be respectively by be erected at intermediate hsg s9 and revolver lid s12 last first in the same way transmission gear rotating shaft and second in the same way transmission gear rotating shaft realization be rotationally connected; At reverse drive gear 6 the reverse drive rotary gear shaft is set, reverse drive gear 6 just can be realized being rotationally connected by being erected at the last reverse drive rotary gear shaft of intermediate hsg s9 and right wheel cap s1.Braced system and Mecanum wheel body be rotationally connected then can be respectively by right deep groove ball bearing s7 being set between right wheel cap s1 and the Mecanum roller mounting bracket 9, between revolver lid s12 and Mecanum roller mounting bracket 9, left deep groove ball bearing s8 being set and realizing.
With reference to Fig. 1 and Fig. 3, external rotating is driven input shaft 2 and is rotated synchronously by input gear 3 inputs, and the rotation of input shaft 2 drives slip commutation board 4 by slide key 1 again and rotates synchronously.
When external control device 13 control slip commutation boards 4, slide into when left position engages with empty in the same way cover sun gear 12 among the figure, slip commutation board 4 will drive empty in the same way cover sun gear 12 and rotate synchronously with input gear 3; The rotation of empty in the same way cover sun gear 12, through first in the same way transmission gear 11 transmissions give second transmission gear 10 in the same way, by second in the same way sun gear 10 drive internally toothed annulus wheel rims 7, make itself and input shaft 2 equidirectional rotations, and be the rotation in the same way of slowing down; Thereby make to be installed in Mecanum roller 8 on the internally toothed annulus 7, rotate in the same way synchronously with internally toothed annulus wheel rim 7 by Mecanum wheel roller bracket 9.At this moment, internally toothed annulus wheel rim 7 also drives oppositely empty cover sun gear 5 by reverse drive gear 6, rotates at input shaft 2 overhead covers.
When external control device 13 control slip commutation boards 4, slide into when location right engages with reverse empty cover sun gear 5 among the figure, slip commutation board 4 will drive reverse empty cover sun gear 5 and input gear 3 rotates synchronously; The rotation of oppositely empty cover sun gear 5 drives internally toothed annulus wheel rims 7 through reverse drive gear 6, makes itself and input shaft 2 counter-rotation, and is the deceleration backward rotation; Thereby make to be installed in Mecanum roller 8 on the internally toothed annulus 7, rotate with internally toothed annulus wheel rim 7 synchronous backwards by Mecanum wheel roller bracket 9.At this moment, internally toothed annulus wheel rim 7 also by second in the same way transmission gear 10 transmissions give first in the same way transmission gear 11, the first in the same way transmission gear 11 drives empty in the same way cover sun gear 12 again, in input shaft 2 overhead cover rotations.
Under input gear 3 rotating speed unmodified conditions, when making in the same way with backward rotation, the velocity of rotation size of Mecanum wheel is identical, and direction is opposite, and the number of teeth of empty in the same way cover sun gear 12 is with oppositely the empty number of teeth of overlapping sun gear 5 is identical.
In Fig. 3, when operating control 13 was not worked, spring s3 promoted slip commutation board 4 and slides to empty in the same way cover sun gear 12, the Mecanum wheel and the input shaft 2 equidirectional rotations that drive internally toothed annulus wheel rim 7 and form; When operating control 13 work, it promotes slip commutation board 4 and slides to reverse empty cover sun gear 5, the Mecanum wheel and the input shaft counter-rotation that drive internally toothed annulus wheel rim 7 and form.
Angular contact bearing s4 supports oppositely empty cover sun gear 5, angular contact bearing s10 supports empty in the same way cover sun gear 12; Bearing s7 is installed on the right wheel cap s1, bearing s8 is installed on the revolver lid s12, supports internally toothed annulus wheel rim 7 and Mecanum roller; Two deep groove ball bearings 8 support input shaft 2; 6 couples of deep groove ball bearing s6 support 6 driving gearshaft s5, are installed in respectively on revolver lid s11, right wheel cap s12 and the intermediate support plate s9.
Claims (4)
1. embedded type straight gear reversing Mecanum wheel, comprise the Mecanum wheel body, it is characterized in that the Mecanum wheel body interior be provided with braced system and and Mecanum wheel body and braced system be rotationally connected, the inwall of Mecanum wheel body is provided with internally toothed annulus wheel rim (7), on braced system, be provided with the center of gyration that power input shaft (2) and power input shaft (2) are positioned at the Mecanum wheel body, on power input shaft (2), be set with reverse empty cover sun gear (5) and empty in the same way cover sun gear (12), going up bonding at power input shaft (2) is useful in the future the transmission of power of ultromotivity input shaft (2) and gives the oppositely empty cover sun gear (5) or the direction reverser of empty cover sun gear (12) in the same way, on described braced system, be rotatably connected to reverse drive gear (6), first transmission gear (11) and second transmission gear (10) in the same way in the same way, and, described reverse drive gear (6) is meshed with reverse empty cover sun gear (5) and internally toothed annulus wheel rim (7) respectively, described first in the same way transmission gear (11) respectively with empty in the same way cover sun gear (12) and second in the same way transmission gear (10) be meshed, described second in the same way transmission gear (10) also be meshed with internally toothed annulus wheel rim (7).
2. embedded type straight gear reversing Mecanum wheel according to claim 1 is characterized in that braced system is made up of interconnective right wheel cap (s1), intermediate hsg (s9) and revolver lid (s12).
3. embedded type straight gear reversing Mecanum wheel according to claim 1 and 2, it is characterized in that direction reverser comprises the slip commutation board (4) that is bonded on the power input shaft (2), on slip commutation board (4), be connected with and be used for making slip commutation board (4) and reverse empty cover sun gear (5) or the operating control (13) that offsets of empty cover sun gear (12) in the same way by push-and-pull slip commutation board (4).
4. embedded type straight gear reversing Mecanum wheel according to claim 1 and 2, it is characterized in that the Mecanum wheel body comprises several Mecanum roller mounting brackets (9), be provided with Mecanum roller (8) on Mecanum roller mounting bracket (9), described internally toothed annulus wheel rim (7) is located on the Mecanum roller mounting bracket (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202357249U CN201472056U (en) | 2009-09-15 | 2009-09-15 | Embedded straight tooth reversing Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202357249U CN201472056U (en) | 2009-09-15 | 2009-09-15 | Embedded straight tooth reversing Mecanum wheel |
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| Publication Number | Publication Date |
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| CN201472056U true CN201472056U (en) | 2010-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009202357249U Expired - Lifetime CN201472056U (en) | 2009-09-15 | 2009-09-15 | Embedded straight tooth reversing Mecanum wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525534A (en) * | 2019-09-27 | 2019-12-03 | 吉林大学 | A kind of small vehicle chassis structure and its control method using complicated landform |
-
2009
- 2009-09-15 CN CN2009202357249U patent/CN201472056U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525534A (en) * | 2019-09-27 | 2019-12-03 | 吉林大学 | A kind of small vehicle chassis structure and its control method using complicated landform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100519 Effective date of abandoning: 20090915 |