CN201914074U - Wheel movement assembly of urban electric vehicle - Google Patents
Wheel movement assembly of urban electric vehicle Download PDFInfo
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- CN201914074U CN201914074U CN201120001153XU CN201120001153U CN201914074U CN 201914074 U CN201914074 U CN 201914074U CN 201120001153X U CN201120001153X U CN 201120001153XU CN 201120001153 U CN201120001153 U CN 201120001153U CN 201914074 U CN201914074 U CN 201914074U
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Abstract
本实用新型公开了城市电动车的车轮运动总成，其包括车轮、环形轮毂电机、半主动独立悬架及线控转向系的执行机构。所述的半主动独立悬架包括弹簧(5)、两根结构相同的悬架导向杆(6)、磁流变减振器(14)、2个结构相同的导向杆滑动衬套(19)和4个结构相同的缓冲块(20)。所述的线控转向系的执行机构包括转向电机和光电编码器组合单元(12)、转向节(13)、转矩传感器(15)、主销轴承(17)和转向节推力轴承(18)。车轮的轮辋(2)与环形轮毂电机中的环形轮毂电机外转子(3)固定连接，环形轮毂电机中的环形轮毂电机内定子(4)通过半主动独立悬架中的悬架导向杆(6)和线控转向系的执行机构的转向节(13)连接。
The utility model discloses a wheel motion assembly of an urban electric vehicle, which comprises a wheel, a ring hub motor, a semi-active independent suspension and an executive mechanism of a wire-controlled steering system. The semi-active independent suspension includes a spring (5), two suspension guide rods (6) with the same structure, a magneto-rheological shock absorber (14), two guide rod sliding bushes (19) with the same structure and 4 buffer blocks (20) with the same structure. The actuator of the steer-by-wire system includes a steering motor and a photoelectric encoder combination unit (12), a steering knuckle (13), a torque sensor (15), a kingpin bearing (17) and a steering knuckle thrust bearing (18) . The rim (2) of the wheel is fixedly connected to the outer rotor (3) of the ring hub motor in the ring hub motor, and the inner stator (4) of the ring hub motor in the ring hub motor passes through the suspension guide rod (6) in the semi-active independent suspension ) is connected with the steering knuckle (13) of the actuator of the steering-by-wire system.
Description
Technical field
The utility model relates to the wheel set on a kind of electric wheel truck that is applied in the city, and more particularly, it relates to the wheel movement assembly of a kind of city battery-driven car.
Background technology
Existing pure electric automobile has plenty of is replaced by electrical motor with the combustion engine of orthodox car, have plenty of its combustion engine and change-speed box are replaced by electrical motor, have plenty of at former drive axle place and adopt the duplex power wheel, what also have is arranged in direct drive wheel in the wheel with motor exactly.In any case, the suspension of these vehicles does not almost have too big difference with conventional truck with steering system: suspension has many places to be connected with vehicle frame, and deflector is even the actuating unit of steering-by-wire system mostly is arranged in central frame beam.This makes the R﹠D cycle of battery-driven car and orthodox car very nearly the same even longer, because in case the basic specification of battery-driven car changes, above mechanism, particularly the connecting bridge of each mechanism all needs redesign optimization, and take the bigger space of vehicle body, increase complete vehicle curb weight, reduced specific power.In addition, electronlmobil is positioned incity, city traffic environment more at present, and has higher requirement with manipulation, the manoevreability of battery-driven car to the city in its intensive wagon flow, the stream of people, groups of building and nervous narrow and small parking stall.Some battery-driven cars reduce wheelbase, wheelspan in order to adapt to this requirement, but have also reduced passenger capacity simultaneously, have sacrificed stability, safety.
Summary of the invention
Technical problem to be solved in the utility model is to have overcome the problem that prior art exists, and the wheel movement assembly of a kind of city battery-driven car is provided.It is fully guaranteed under the prerequisite of city battery-driven car to road-holding property and manoevreability high request, simplify body structure, shorten the R﹠D cycle of car load.
For solving the problems of the technologies described above, the utility model is to adopt following technical scheme to realize: the wheel movement assembly of described city battery-driven car comprises the actuating unit of wheel, annular wheel hub motor, half active independent suspension and steering-by-wire system.Described half active independent suspension comprises spring, suspension pilot bar, magneto-rheological vibration damper, 2 pilot bar slide bushings and 4 bump rubbers that structure is identical that structure is identical that two root architectures are identical.
Radially be fixed on the annular wheel hub electric motor internal stator in the annular wheel hub motor and be in by the identical suspension pilot bar of two root architectures in the plane of the annular wheel hub electric motor internal stator rotation axis in the annular wheel hub motor and be parallel to each other.Be fixed on 4 identical bump rubbers of structure in the bump rubber groove on the annular wheel hub electric motor internal stator in the annular wheel hub motor and be set in the two ends of the identical suspension pilot bar of two root architectures.For being sleeved on, the identical pilot bar slide bushing of 2 structures of interference fit is transition fit on the suspension pilot bar in 2 suspension guide through hole of the steering swivel lower end in the actuating unit of the steering-by-wire of packing into system.Spring housing is contained in the outside of magneto-rheological vibration damper, the upper and lower end face of spring respectively with the actuating unit of steering-by-wire system in 2 suspension guide through hole of steering swivel between bottom surface and annular wheel hub motor in the spring perch bottom surface contact of annular wheel hub electric motor internal stator be connected, the upper and lower side of magneto-rheological vibration damper then is hinged on respectively on the spring perch bottom surface of bottom surface between 2 suspension guide through hole of the steering swivel in the actuating unit that steering-by-wire is and the annular wheel hub electric motor internal stator in the annular wheel hub motor.
The actuating unit of the steering-by-wire system described in the technical scheme comprises steer motor and photoelectric encoder assembled unit, deflector, steering swivel, torque sensor, stub bearing, knuckle thrust bearing, worm gear axle sleeve and flange.Photoelectric encoder in steer motor and the photoelectric encoder assembled unit is sleeved on the output shaft of the steer motor in steer motor and the photoelectric encoder assembled unit.Steer motor in steer motor and the photoelectric encoder assembled unit is fixed on the housing of deflector, the output shaft of steer motor adopts coupler to be connected with the deflector input shaft, the deflector output shaft is that key is connected by worm gear axle sleeve and torque sensor one end, and the torque sensor other end is connected with steering swivel upper end key.The stub bearing and the knuckle thrust bearing that are installed on the vehicle frame are sleeved on the steering swivel upper end, and flange is fixed on the upper surface of steering swivel; Described deflector comprises worm gear, worm screw, deflector upper shell, deflector lower house, worm-wheel shaft, housing end plug, worm-wheel shaft seal ring and 2 Worm Bearings that structure is identical.Worm-wheel shaft is installed in the bearing hole on deflector lower house and the deflector upper shell by 2 identical Worm Bearings of structure and passes the central through hole of the housing end plug that the worm-wheel shaft seal ring is installed.It is that key connects that worm gear set is contained on the worm-wheel shaft between the identical Worm Bearing of 2 structures.Worm screw by the identical bearing installation of 2 structures on deflector lower house and deflector upper shell in two other bearing hole and and worm gear be connected with a joggle.Adopt bolt to be connected between deflector upper shell and the deflector lower house and between housing end plug and the deflector lower house, worm-wheel shaft intersects vertical with the rotation axis of worm screw; Described annular wheel hub motor comprises the actuating unit of annular wheel hub motor outer rotor, annular wheel hub electric motor internal stator, big footpath tapered roller bearing and brake-by-wire system.The actuating unit that described brake-by-wire is is made up of drg and loop system Moving plate.The annular wheel hub motor outer rotor is sleeved on the annular wheel hub electric motor internal stator by big footpath tapered roller bearing, and the loop system Moving plate is fixed by bolts on the annular wheel hub motor outer rotor left side, and drg uses bolt on the annular wheel hub electric motor internal stator.
Compared with prior art the beneficial effects of the utility model are:
1. in the wheel movement assembly of city described in the utility model battery-driven car, deflector can drive on the steering swivel rotation that all members are realized wide-angles even 360 °.Like this,, remove the driving cycle that turns to can realize conventional truck, can also control four wheel steerings respectively if battery-driven car is equipped with 4 wheel movement assemblies, with realize that vehicular four wheels turns to, the special driving cycle of pivot stud, traversing and oblique line translation.This not only satisfied the city travel high maneuverability requirement but also alleviated the burden of chaufeur.
2. in the wheel movement assembly of city described in the utility model battery-driven car, wheel is along suspension pilot bar axis bob, around main pin axis and wheel hub motor rotational.Therefore, the wheel alignment parameter on the orthodox car is to lean on the locus of above-mentioned several axis to guarantee.When the relative vehicle body of wheel movement assembly described in the utility model was beated, wheel alignment parameter and wheelspan remained unchanged substantially, have improved vehicle handling and stability, have alleviated Tyte Wear.
3. the wheel movement assembly of city described in the utility model battery-driven car and vehicle frame have only place's mechanical connection, if junction normalisation, so different body frame structure for automotive, can cooperate different wheel movement assemblies, identical body frame structure for automotive also can cooperate different wheel movement assemblies to reach the target of vehicle unit design.In addition, the wheel movement assembly of can upgrading separately, the performance figure of lifting car load.Adopt that this wheel movement assembly can shorten the R﹠D cycle, reduces production costs, accelerating vehicle updates makes the producer grasp the initiative in market.
4. the wheel movement assembly structure compactness of city described in the utility model battery-driven car, it is little to take the vehicle body spatial volume, can increase the capacity of baggage container, is convenient to the layout of battery, thereby realizes the distribution of axle load of vehicle.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further described:
Fig. 1 is the scheme drawing of the wheel movement assembly structure principle of city described in the utility model battery-driven car;
Fig. 2 is that the wheel movement assembly structure of city described in the utility model battery-driven car is formed the full sectional view on the front view;
Fig. 3 is the FB(flow block) of the wheel movement assembly principle of work of city described in the utility model battery-driven car;
Among the figure: 1. tire, 2. wheel rim, 3. annular wheel hub motor outer rotor, 4. annular wheel hub electric motor internal stator, 5. spring, 6. suspension pilot bar, 7. drg, 8. loop system Moving plate, 9. vehicle frame, 10. worm gear, 11. worm screws, 12. steer motor and photoelectric encoder assembled unit, 13. steering swivel, 14. magneto-rheological vibration dampers, 15. torque sensors, 16. the deflector upper shell, 17. stub bearings, 18. knuckle thrust bearinies, 19. the pilot bar slide bushing, 20. bump rubbers, 21. big footpath tapered roller bearings, 22. the deflector lower house, 23. worm-wheel shafts, 24. worm gear axle sleeves, 25. housing end plug, 26. the worm-wheel shaft seal ring, 27. Worm Bearings, 28. flanges.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is explained in detail:
Consult Fig. 1 and Fig. 2, the wheel movement assembly of city described in the utility model battery-driven car comprises the actuating unit of wheel, annular wheel hub motor, half active independent suspension and steering-by-wire system.The technical scheme that the utility model adopted is to provide propulsive effort with the annular wheel hub motor, adopt the reversal connection of annular wheel hub motor that part even whole braking force can also be provided, the deflector output shaft drives the rotation that all members on the steering swivel 13 are realized wide-angles even 360 °, and suspension is installed in the annular wheel hub motor internal makes the relative steering swivel with the annular wheel hub motor of wheel 13 beat along pilot bar slide bushing 19.
The annular wheel hub motor mainly comprises the big footpath tapered roller bearing 21 that annular wheel hub motor outer rotor 3,4,2 structures of annular wheel hub electric motor internal stator are identical and the actuating unit of brake-by-wire system.The wheel that tire 1, brake disc 8 and wheel rim 2 constitute, tire 1 is sleeved on the wheel rim 2.All ground all will pass to vehicle frame by tire 1, wheel rim 2, annular wheel hub motor outer rotor 3, annular wheel hub electric motor internal stator 4, suspension pilot bar 6, steering swivel 13 for the counter-force and the counter torque of wheel.So annular wheel hub motor outer rotor 3 will make it drive wheels can transmit each again to power and moment through structure-reinforced with annular wheel hub electric motor internal stator 4.Like this, by 2 identical big footpath tapered roller bearings 21 of structure annular wheel hub motor outer rotor 3 is sleeved on the annular wheel hub electric motor internal stator 4 meeting the demands, and on annular wheel hub electric motor internal stator 4, also will be provided with spring perch, blind hole and the groove that installs and fixes spring 5, magneto-rheological vibration damper 14, suspension pilot bar 6, bump rubber 20 and drg 7.
The actuating unit of brake-by-wire system comprises drg 7 and loop system Moving plate 8.Captive joint in the right side of the spoke plate on loop system Moving plate 8 and the wheel rim 2, loop system Moving plate 8 and wheel rim 2 are fixed by bolts on the left side of annular wheel hub motor outer rotor 3.Drg 7 also uses bolt on annular wheel hub electric motor internal stator 4, and guarantees that drg 7 positions do not interfere with the up-and-down movement of steering swivel 13 with respect to suspension pilot bar 6.
Half active independent suspension comprises spring 5, pilot bar slide bushing 19 and 4 bump rubbers 20 that structure is identical that 14,2 structures of suspension pilot bar 6, magneto-rheological vibration damper that two root architectures are identical are identical.The suspension pilot bar 6 that two root architectures are identical radially is fixed in the blind hole on the annular wheel hub electric motor internal stator 4, the suspension pilot bar 6 that two root architectures are identical is in together in the plane by annular wheel hub electric motor internal stator 4 rotation axiss, and the suspension pilot bar 6 that two root architectures are identical is parallel to each other.4 identical bump rubbers 20 of structure are set in the two ends of the identical suspension pilot bar 6 of two root architectures, and be fixed in the bump rubber groove on the annular wheel hub electric motor internal stator 4,2 identical pilot bar slide bushings 19 of structure are sleeved on and are transition fit on the suspension pilot bar 6, and 2 identical pilot bar slide bushings 19 of structure are packed into again and are interference fit in 2 suspension guide through hole of steering swivel 13 lower ends.2 suspension guide through hole of steering swivel 13 lower ends are made along two parts of 2 through-bore axis opposite openeds, and the last of installation is fixed on moving part on the steering swivel 13 that slide bushing 19 is installed with bolt.Spring 5 is sleeved on the outside of magneto-rheological vibration damper 14, the upper and lower end face of spring 5 respectively with 2 suspension guide through hole of steering swivel 13 between the bottom surface be connected with the spring perch bottom surface contact of annular wheel hub electric motor internal stator 4.The upper and lower side of magneto-rheological vibration damper 14 then is hinged on respectively on the spring perch bottom surface of bottom surface between 2 suspension guide through hole of steering swivel 13 and annular wheel hub electric motor internal stator 4.
The actuating unit of steering-by-wire system mainly comprises steer motor and photoelectric encoder assembled unit 12, deflector, torque sensor 15, steering swivel 13, stub bearing 17, knuckle thrust bearing 18, worm gear axle sleeve 24 and flange 28.
Described steering swivel 13 is by Top Crossbeam, vertical arm and lower cross arm C font framing member that constituted and that can be made of one.It is that the rotation axis of stub axle is in vertical orientations that the upper surface of Top Crossbeam is provided with the stub axle vertical with Top Crossbeam, be processed with ladder hole in the center of stub axle and along the direction of stub axle rotation axis, large diameter hole, upper end is used to hold worm gear axle sleeve 24 and torque sensor 15, the axle of the through hole of lower end minor diameter and torque sensor 15 lower ends is equipped, is processed with keyway on the hole wall of lower end small diameter bore vertically.Two identical rotation axiss of structure of processing are in the suspension guide through hole of vertical orientations on the lower cross arm, and the rotation axis of the suspension guide through hole that two structures are identical and the axis of revolution of the stub axle on steering swivel 13 Top Crossbeams are in together in the vertical plane surface.
Described deflector comprises worm gear 10, worm screw 11, deflector upper shell 16, deflector lower house 22, worm-wheel shaft 23, housing end plug 25, worm-wheel shaft seal ring 26 and 2 Worm Bearings 27 that structure is identical.
Worm-wheel shaft 23 is installed in the bearing hole on deflector lower house 22 and the deflector upper shell 16 by 2 identical Worm Bearings 27 of structure, and passing the central through hole of the housing end plug 25 that worm-wheel shaft seal ring 26 is installed, the inner ring surface that is sleeved on the worm-wheel shaft seal ring 26 on the worm-wheel shaft 23 is connected the leak free effect of playing with the contact of worm-wheel shaft 23 external cylindrical surfaces.It is that key connects that worm gear 10 is sleeved on the worm-wheel shaft 23 between the identical Worm Bearing 27 of 2 structures, and worm screw 11 is connected with a joggle in two other bearing hole on deflector lower house 22 and the deflector upper shell 16 and with worm gear 10 by the identical bearing installation of 2 structures.Adopt bolt to be connected between deflector upper shell 16 and the deflector lower house 22 and between housing end plug 25 and the deflector lower house 22.It is vertical that worm-wheel shaft 23 and the rotation axis of worm screw 11 intersect, the symmetrical plane coplane that the symmetrical plane of rotation axis of worm screw 11 and worm gear 10 is promptly vertical with the worm gear rotation axis.
Photoelectric encoder in steer motor and the photoelectric encoder assembled unit 12 is sleeved on the output shaft of the steer motor in steer motor and the photoelectric encoder assembled unit 12, turning to motor to adopt model in steer motor and the photoelectric encoder assembled unit 12 is the DC torque motor of 70LYX03, and steer motor is by being bolted on deflector upper shell 16 and the deflector lower house 22.Steer motor output shaft and the input end of deflector are that the end of worm screw 11 is connected by coupler.The mouth of deflector is that the external part of worm-wheel shaft 23 is connected with flat key with torque sensor 15 1 ends by worm gear axle sleeve 24.Torque sensor 15 other ends are connected with the hole of steering swivel 13 upper end minor diameters with flat key.To guarantee the right alignment and the rigidity of worm-wheel shaft 23 and knuckle bores therebetween, torque sensor 15 suffered additional bending moment when running car is met the requirements, not bear axial force.Steering swivel 13 is connected with knuckle thrust bearing 18 by stub bearing 17 with vehicle frame 9, wherein, stub bearing 17 is a plain bearing, and stub bearing 17 is a transition fit with the stub axle of steering swivel 13 upper ends, and the kingpin bore on stub bearing 17 and the vehicle frame 9 is an interference fit.The stub axle of steering swivel 13 upper ends and be installed in stub bearing 17 and knuckle thrust bearing 18 on the vehicle frame 9 equipped after, flange 28 is fixed on the end face of the stub axle of steering swivel 13 upper ends and the kingpin bore on the vehicle frame 9, the lengthwise position of restriction steering swivel 13 on vehicle frame 9 promptly prevents the disengaging of steering swivel 13 and vehicle frame 9.Because stub axle stressing conditions complexity, the size of steering swivel 13 upper ends are bigger, knuckle thrust bearing 18 is selected thrust roller bearing for use.In addition, each wheel alignment parameter is zero in the structure of the wheel movement assembly of city battery-driven car, can adjust the axis of the stub axle on the steering swivel and the relative space position of suspension guide through hole axis according to different design objectives in the practical application, to satisfy requirement other wheel alignment parameters except that toeing-in.Toeing-in is then directly adjusted steer motor by control program.The worm and gear steering gear housing is fixed on the vehicle frame 9.
The principle of work of the wheel movement assembly of city battery-driven car:
Consult Fig. 3, during the chaufeur steering vehicle, transmit operation signal by acceleration pedal, brake pedal, steering handwheel or button to vehicle, operation signal and sensor signal are through electronic control unit (the Electronic Control Unit of conversion input vehicle, be called for short ECU), send control signal by it, finish the Action Target of chaufeur each wheel movement assembly.
The acceleration operation signal of chaufeur and the feedback signal of body-acceleration sensor, car speed sensor and wheel speed sensors are controlled the annular wheel hub motor by electronic control unit, can realize vehicle drive force control.As realizing that straight line quickens, cruise is also realized turning to differential, driving functions such as anti-skidding.The feedback signal of brake operating signal and car speed sensor, wheel speed sensors and brake pressure sensor is controlled drg by electronic control unit, can realize as service brake functions such as braking during standstill, anti-lock, electronic braking force distribution; By electronic control unit pedal resistance is carried out controlled feedback simultaneously and give chaufeur.The feedback signal of steering operation signal and wheel steering angle sensor, torque sensor and car speed sensor is controlled steer motor by electronic control unit, realize turning to, just returning of wheel, and can realize functions such as four-wheel steering by co-operative control to 4 wheel movement assemblies.For special operation conditions such as diagonal, pivot stud, automatic parkings, can operate by the model selection button.By electronic control unit 4 independently wheel movement assembly co-ordinations of feedback signal control according to each sensor.14 of magneto-rheological vibration dampers are controlled the size of its dumping force by electronic control unit by the signal feedback of body-acceleration sensor, improve the ride comfort of vehicle '.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120001153XU CN201914074U (en) | 2011-01-05 | 2011-01-05 | Wheel movement assembly of urban electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120001153XU CN201914074U (en) | 2011-01-05 | 2011-01-05 | Wheel movement assembly of urban electric vehicle |
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| Publication Number | Publication Date |
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| CN201914074U true CN201914074U (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201120001153XU Expired - Lifetime CN201914074U (en) | 2011-01-05 | 2011-01-05 | Wheel movement assembly of urban electric vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085799A (en) * | 2011-01-05 | 2011-06-08 | 吉林大学 | Wheel motion assembly of city electric vehicle |
| CN102431586A (en) * | 2011-10-24 | 2012-05-02 | 上海航天汽车机电股份有限公司 | Integrated steering and suspension system |
| CN103112313A (en) * | 2013-03-13 | 2013-05-22 | 上海中科深江电动车辆有限公司 | Wheel rim drive device |
| CN106476888A (en) * | 2016-10-28 | 2017-03-08 | 东莞市强乐塑胶制品有限公司 | universal car |
| CN114408056A (en) * | 2021-12-30 | 2022-04-29 | 上海龙创汽车设计股份有限公司 | Multifunctional service robot chassis |
| CN117719324A (en) * | 2024-01-19 | 2024-03-19 | 杭州腾励传动科技股份有限公司 | A two-stage suspension active cooling hub motor drive assembly |
| CN120116676A (en) * | 2025-04-03 | 2025-06-10 | 华中科技大学 | A two-stage suspension vibration reduction system structure for an electric wheel drive vehicle |
| DE112021004703B4 (en) * | 2020-11-29 | 2025-06-12 | Shanghai Launch Automotive Technology Co., Ltd. | An all-wheel steering system for independently steering chassis platforms of low-speed self-propelled vehicles |
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2011
- 2011-01-05 CN CN201120001153XU patent/CN201914074U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085799A (en) * | 2011-01-05 | 2011-06-08 | 吉林大学 | Wheel motion assembly of city electric vehicle |
| CN102085799B (en) * | 2011-01-05 | 2013-01-02 | 吉林大学 | Wheel motion assembly of city electric vehicle |
| CN102431586A (en) * | 2011-10-24 | 2012-05-02 | 上海航天汽车机电股份有限公司 | Integrated steering and suspension system |
| CN102431586B (en) * | 2011-10-24 | 2015-11-18 | 上海航天汽车机电股份有限公司 | Integral steering and suspension system |
| CN103112313A (en) * | 2013-03-13 | 2013-05-22 | 上海中科深江电动车辆有限公司 | Wheel rim drive device |
| CN103112313B (en) * | 2013-03-13 | 2015-05-20 | 上海中科深江电动车辆有限公司 | Wheel rim drive device |
| CN106476888A (en) * | 2016-10-28 | 2017-03-08 | 东莞市强乐塑胶制品有限公司 | universal car |
| CN106476888B (en) * | 2016-10-28 | 2019-05-21 | 东莞市强乐塑胶制品有限公司 | Universal vehicle |
| US10457325B2 (en) | 2016-10-28 | 2019-10-29 | Dongguan Qiangle Plastic Products Company | Omnidirectional vehicle |
| DE112021004703B4 (en) * | 2020-11-29 | 2025-06-12 | Shanghai Launch Automotive Technology Co., Ltd. | An all-wheel steering system for independently steering chassis platforms of low-speed self-propelled vehicles |
| CN114408056A (en) * | 2021-12-30 | 2022-04-29 | 上海龙创汽车设计股份有限公司 | Multifunctional service robot chassis |
| CN117719324A (en) * | 2024-01-19 | 2024-03-19 | 杭州腾励传动科技股份有限公司 | A two-stage suspension active cooling hub motor drive assembly |
| CN120116676A (en) * | 2025-04-03 | 2025-06-10 | 华中科技大学 | A two-stage suspension vibration reduction system structure for an electric wheel drive vehicle |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110803 Effective date of abandoning: 20130227 |
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| RGAV | Abandon patent right to avoid regrant |