CN204055962U - A kind of steering swivel system of flexible wheel base vehicle - Google Patents
A kind of steering swivel system of flexible wheel base vehicle Download PDFInfo
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- CN204055962U CN204055962U CN201420474070.6U CN201420474070U CN204055962U CN 204055962 U CN204055962 U CN 204055962U CN 201420474070 U CN201420474070 U CN 201420474070U CN 204055962 U CN204055962 U CN 204055962U
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Abstract
The utility model relates to a kind of steering swivel system of flexible wheel base vehicle, comprises drive axle, cross-drive bridge, vehicle main car frame, steering unit and steering linkage; Described drive axle and form center hinge connection mechanism between cross-drive bridge and vehicle main car frame, described drive axle and cross-drive bridge are installed on vehicle frame stub axle, described vehicle frame stub axle is a quill shaft, steering power arm main shaft is connected with deflector through vehicle frame stub axle, and described steering unit and steering linkage are arranged on drive axle or cross-drive bridge; Described steering linkage and steering unit coordinate to be installed; The utility model utilizes structural layout characteristics and the changeable wheel track characteristic thereof of intersection vehicle bridge, Ackermam Ackerman steering mechanism is designed to an independently steering unit, by a series of connecting rod mechanism, realize turning to of vehicle, change its cornering properties by the construction parameter changing above-mentioned steering unit, meet and turn to requirement under all wheelspan conditions.
Description
Technical field
The utility model relates to a kind of steering swivel system of flexible wheel base vehicle, and particularly a kind of drive axle is in the mechanical type steering swivel system of the agricultural vehicle chassis of the adjustable tread of intersection arrangement form, belongs to Vehicular turn control technology field.
Background technology
As everyone knows, need in vehicle travel process to turn to; During Vehicular turn, each wheel to be made in theory all only to roll do not slide, each wheel must roll around same center-point O, namely wheel flutter angle of inclination meet Ackermann steering principle, namely the cotangent value that the cotangent value of angle of inclination of outside steered wheel equals the angle of inclination of inner side steered wheel add wheelspan and wheelbase ratio (cot α=cot β+b/l, in formula α, β be respectively outward, inboard wheel angle of inclination; B is the distance between both sides stub extended line and ground intersection point; L is wheelbase).For general vehicle, its wheelspan and wheelbase are changeless substantially, so its steering hardware and cornering properties are changeless, do not need adjustment and change in use procedure; And in some cases, require that the wheelspan of working truck often adjusts to change to meet job requirements, such as the vehicle of the field management machinery equalization such as crops weeding, fertilising and spray medicine, require its vehicle chassis along crop row apart from walking and change wheelspan with the change of crop row distance, for above-mentioned flexible wheel base vehicle, the change of wheelspan makes the relation between turn around parameters change, therefore require that the parameter of steering hardware and cornering properties change thereupon, to ensure that the moment meets Ackermann steering principle.
At present, the steering swivel system of vehicle mainly contains mechanical type, fluid pressure type, electro-hydraulic formula and electronic control type, compare the steering swivel system of other types, mechanical type steering swivel system has that cost is low, efficiency is high, road feel is good and high reliability, so domestic common vehicle, agri-vehicle etc. generally all adopt the mechanical-type steering engine structure based on Ackermam Ackerman steering mechanism.Because the length of each connecting rod of Ackermam Ackerman steering mechanism is changeless, its cornering properties is also unmodifiable, and therefore, what mechanical type steering swivel system domestic at present generally can not meet flexible wheel base vehicle turns to requirement.For the steering swivel system of flexible wheel base vehicle, Study and appliance focuses mostly in wheel independent steering both at home and abroad at present, employing servocontrol, hydraulic-driven steered wheel meet Ackermann steering condition, or directly adopt the deflection of Serve Motor Control wheel to meet Ackermann steering condition.
Therefore, need a kind of steering swivel system, turn on the basis of requirement what meet flexible wheel base vehicle, adopt the mechanical-type steering engine structure based on Ackermam Ackerman steering mechanism forward method.
Utility model content
The purpose of this utility model is to overcome above-mentioned deficiency, a kind of steering swivel system of flexible wheel base vehicle is provided, utilize the layout feature of intersection vehicle bridge, Ackermam Ackerman steering mechanism is designed to an independently steering unit, be arranged on separately in a vehicle bridge, by a series of connecting rod mechanism, realize turning to of vehicle, change its cornering properties by the construction parameter changing above-mentioned steering unit, meet and turn to requirement under all wheelspan conditions.
Realize the technical measures of above-mentioned purpose: comprise drive axle and cross-drive bridge, and for installing the vehicle main car frame of drive axle and cross-drive bridge; Described steering swivel system also comprises steering unit and steering linkage; Described drive axle and cross-drive bridge are hinged in respective point midway and form OC point; Described OC point is positioned on vehicle main car frame, drive axle and form center hinge connection mechanism between cross-drive bridge and vehicle main car frame;
Described center hinge connection mechanism comprises vehicle frame stub axle, steering power arm main shaft and deflector;
Described drive axle and cross-drive bridge are installed on vehicle frame stub axle, and described vehicle frame stub axle is a quill shaft, and steering power arm main shaft is connected with deflector through vehicle frame stub axle;
Described steering unit and steering linkage are arranged on drive axle or cross-drive bridge;
Described steering unit is formed by proceeding to joint arm, proceeding to tie rod arm, tierod, produce tie rod arm and producing joint arm;
Described steering linkage comprises steering power arm, left side pull bar, commutation rocking arm, left side drive spindle, right side pull bar, right side drive spindle, the trailing wheel arm of stability, right stabilizer bar, left stabilizer bar, stabilizer rod, track arm, steering trapezoidal arm, rear left wheel pivoted arm, right rear wheel pivoted arm, front left wheel pivoted arm and right front wheel pivoted arm;
Described steering power arm one end is articulated with OC point, and the other end is connected with the deflector be fixed on vehicle main car frame, is hinged with left side pull bar and right side pull bar by pitman pin simultaneously;
Described cross-drive bridge is welded with pivoted arm bearing pin, and weld nugget forms E point;
The described left side pull bar other end is hinged with one end of commutation rocking arm; The center pin axis hole of commutation rocking arm, through pivoted arm bearing pin, forms articulated structure with cross-drive bridge, and the other end is hinged with left side drive spindle; The left side drive spindle other end and front left wheel pivoted arm are hinged, the center shaft of front left wheel pivoted arm passes the axis hole of the left front end of intersection vehicle bridge, form articulated structure, front left wheel is equipped with in front left wheel pivoted arm lower end, right front wheel is equipped with in right front wheel pivoted arm lower end, rear left wheel is equipped with in rear left wheel pivoted arm lower end, and right rear wheel is equipped with in right rear wheel pivoted arm lower end.
Proceeding in the described right side pull bar other end and steering unit is saved arm and is hinged, and producing in drive spindle one end, right side and steering unit is saved arm and be hinged, and the other end and right front wheel pivoted arm are hinged.
Further, described vehicle frame stub axle is a hollow shaft, is fixed on vehicle main car frame, and the main shaft of steering power arm is through vehicle frame stub axle, and the other end is connected with the deflector be fixed on vehicle main car frame.
Further, described track arm is connected to and proceeds to joint arm and produce between joint arm, and steering trapezoidal arm is connected to and proceeds to tie rod arm and produce between tie rod arm, and tierod is connected with servo electric jar; Shaft gear is equipped with in position near pivoted arm bearing pin on track arm, and shaft gear engages with the big gear wheel on steering trapezoidal arm; Track arm top is installed with turbine and worm stepping motor, and turbine and worm stepping motor is connected with shaft gear by coupler; Servo electric jar two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged.
Further, described steering trapezoidal arm one end comprises a big gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, an overall formation tie rod arm.
Further, described trailing wheel arm of stability one end is articulated with OC point, and the other end is hinged with right stabilizer bar and left stabilizer bar simultaneously; The left stabilizer bar other end and rear left wheel pivoted arm are hinged; The right stabilizer bar other end and the one end that commutates hinged, the center-point of described commutation rocking arm is articulated with on drive axle, and hinge-point place has been welded pivoted arm bearing pin; The described commutation rocking arm other end and stabilizer rod are hinged; The stabilizer rod other end and right rear wheel pivoted arm are hinged.
The beneficial effects of the utility model are: the mechanical type 1, utilizing Ackermam Ackerman steering mechanism principle to achieve flexible wheel base vehicle turns to; 2, by changing the construction parameter of steering unit, the front-wheel steering under all wheelspan conditions is achieved; 3, for the single wheelspan condition determined, only servo control unit need be utilized once to change the construction parameter of steering unit, can to meet under this wheelspan condition any turns to requirement.
Accompanying drawing explanation
Fig. 1 is steering swivel system mechanism principle figure of the present utility model;
Fig. 2 is steering unit mechanism principle figure of the present utility model;
Fig. 3 is steering system structural schematic diagram of the present utility model;
Fig. 4 is center hinge connection mechanism structural representation of the present utility model.
Detailed description of the invention
Be described in detail below in conjunction with the preferred embodiment of accompanying drawing to utility model, to make the advantage of utility model and feature can be easier to be readily appreciated by one skilled in the art, thus more explicit defining made to the protection domain of utility model.
Flexible wheel base steering swivel system described in the utility model is primarily of the steering unit 10 of a variable parameter and a series of connecting rod mechanism composition, steering unit 10 follows Ackermam Ackerman steering mechanism geometrical principle, and other a series of connecting rod mechanisms follow parallelogram linkage geometrical principle.
Be illustrated in figure 1 steering swivel system mechanism principle figure of the present utility model, drive axle 1 and cross-drive bridge 2 are hinged in OC point with respective point midway, and OC point is positioned on vehicle main car frame 25.According to geometrical principle, change the angle theta between described two drive axles, wheelspan b, wheelbase l can change, and namely increase angle theta, and wheelspan b increases, wheelbase l reduces; Otherwise, reduce angle theta, wheelspan b reduce, wheelbase l increases, and achieves the flexible wheel base characteristic of vehicle chassis like this.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, steering power arm 5 one end is articulated with OC point, can rotate freely around vehicle frame stub axle 251 relative to vehicle main car frame 25, vehicle frame stub axle 251 is hollow shafts, be fixed on vehicle main car frame 25, the main shaft 501 of steering power arm 5 is through vehicle frame stub axle 251, and the other end is connected with the deflector 502 be fixed on vehicle main car frame 25, vehicle steering rotates and drives deflector 502 to rotate, and then drives steering power arm 5 to rotate; Steering power arm 5 other end is hinged by pitman pin 24 with left side pull bar 6 and right side pull bar 9 simultaneously.
Left side pull bar 6 other end is hinged with one end of commutation rocking arm 7; On cross-drive bridge 2, pivoted arm bearing pin 26 is equipped with in E spot welding, and the center pin axis hole of commutation rocking arm 7 is through pivoted arm bearing pin 26, and form articulated structure with cross-drive bridge, the other end and left side drive spindle 8 one end are hinged; Left side drive spindle 8 other end and front left wheel pivoted arm 301 are hinged, the center shaft of front left wheel pivoted arm 301 passes the axis hole of the left front end of intersection vehicle bridge 2, with formation articulated structure, front left wheel 3 is equipped with in front left wheel pivoted arm 301 lower end, namely front left wheel pivoted arm 301 rotates and can directly drive front left wheel 3 to deflect, realize wheel steering, in like manner, right front wheel pivoted arm 401 drives right front wheel 4 to turn to, rear left wheel pivoted arm 161 drives rear left wheel 16 to turn to, and right rear wheel pivoted arm 171 drives right rear wheel 17 to turn to.According to geometrical principle, steering power arm 5 drives left side pull bar 6 translation when OC point rotates, pulls left side drive spindle 8 translation through commutation rocking arm 7 under lever principle effect, thus drives front left wheel pivoted arm 301 to rotate, and realizes front left wheel 3 and turns to.According to geometric relationship, arrange each turning effort arm lengths equal, can realize the same-phase of steering power arm 5 and front left wheel 3, turn to angle, namely both corners are equal, turn to identical.
As shown in Figure 2, proceeding in right side pull bar 9 other end and steering unit 10 is saved arm 101 and is hinged, and producing in right side drive spindle 11 one end and steering unit 10 is saved arm 105 and be hinged, and the other end and right front wheel pivoted arm 401 are hinged.According to geometrical principle, steering power arm 5 drives right side pull bar 9 translation when OC point rotates, thus drive the joint arm 101 that proceeds in steering unit 10 to rotate, to turn to corner with same-phase, import steering unit 10 into angular way, through steering unit 10 according to after Ackermam Ackerman steering mechanism geometrical principle translation-angle, suitable corner is spread out of by the joint arm 105 that produces in steering unit 10, drive right side drive spindle 11 translation, thus drive right front wheel pivoted arm 401 to rotate, realize turning to of off front wheel 4.Importing angle into and spreading out of angle and follow Ackermann steering principle due to steering unit 10, so the deflection angle of front left wheel 3 and right front wheel 4 meets Vehicular turn condition, completes the front-wheel steering of vehicle then.
According to Vehicular turn principle, be no matter vehicle keep straight on or front-wheel steering time, two trailing wheel relative frame main bodys all can not deflect, and namely the rotating direction of trailing wheel parallels with the working direction of vehicle all the time.In this example, need when front-wheel steering to ensure that the rotating direction of two trailing wheels parallels with the working direction of vehicle all the time under any wheelspan condition, namely there is not any deflection in two trailing wheels yet.
As shown in Figure 1, the trailing wheel arm of stability 12 one end is articulated with OC point, and the other end is hinged with right stabilizer bar 13 and left stabilizer bar 14 simultaneously; Left stabilizer bar 14 other end and rear left wheel pivoted arm 161 are hinged; Right stabilizer bar 13 other end and rocking arm 7 one end of commutating hinged, the center-point of described commutation rocking arm 7 is articulated with F point on drive axle 1, and on drive axle 1, F point place has been welded pivoted arm bearing pin; Described commutation rocking arm 7 other end and stabilizer rod 15 are hinged; Stabilizer rod 15 other end and right rear wheel pivoted arm 171 are hinged.Here the pointing direction of the trailing wheel arm of stability 12 is controlled, by modes such as mechanical position limitations, itself and vehicle main car frame 25 are fixed, namely its pointing direction is controlled vertical with vehicle lengthwise direction all the time, according to theory of machines, the rotational freedom around itself and drive axle hinge-point of two trailing wheels is limited by the trailing wheel arm of stability 12 completely, namely no matter how wheelspan changes, and two trailing wheels can not deflect all the time, and the moment meets keeps straight on and turns to requirement.
As shown in Figure 3, in steering swivel system example structure, the implementation method of the trailing wheel arm of stability 12 is that the position directly determined on vehicle main car frame 25 is welded trailing wheel stabiliser 121, and described trailing wheel stabiliser 121 top has been welded pitman pin, is responsible for connecting right stabilizer bar 13 and left stabilizer bar 14.
Steering unit 10 is core components of this steering swivel system, and it follows Ackermam Ackerman steering mechanism geometrical principle, by changing its part-structure parameter change cornering properties, can turn to requirement to meet in multiple situation.
As shown in Figure 2, proceed to joint arm 101 and proceed to tie rod arm 102 and be articulated with C point on drive axle 1 simultaneously, produce tie rod arm 104 and produce joint arm 105 and be articulated with D point on drive axle 1 simultaneously, on drive axle 1, C point and D point place have all been welded pivoted arm bearing pin, and the straight-line distance between C point and D point is designated as k; Proceed to tie rod arm 102 equal with the length producing tie rod arm 104, be designated as m; In the design, be simplified structure to the full extent, k and m is arranged via the constant value of optimization; Tierod 103 two ends respectively with proceed to tie rod arm 102 and produce the vacant end of tie rod arm 104 hinged, in the design, tierod 103 is adjustable length elements, it can be the mechanical element of the variable-length such as hydraulic actuating cylinder, electric cylinder, its feature be length n by servo system control, there is latching characteristics and enough rigidity simultaneously; Proceed to joint arm 101 and the angle proceeded between tie rod arm 102 be designated as δ, produce joint arm 105 and the angle produced between tie rod arm 104 be designated as λ, these two angles are variable, namely additional mechanical mechanism can be passed through, as worm-and-wheel gear or gear mechanism, quantitatively change above-mentioned two angle values by Fu, and after reaching anticipated value lockout mechanism, ensure that angle value does not change in steering procedure, so ensure steering swivel system turn to precision.According to Ackermam Ackerman steering mechanism geometrical principle, the length m of tie rod arm and trapezoidal base angle γ determines the cornering properties of steering hardware, therefore, for the wheelspan condition determined and steering mode (front-wheel steering or four-wheel steering), the length m of tie rod arm and the optimal value of trapezoidal base angle γ are determined.According to actual conditions, in the design, the length of the tie rod arm of steering unit is determined constant, namely m value is through the determined value optimized and calculate, the cornering properties of steering unit 10 is controlled by the length n of trapezoidal base angle γ and tierod 103, namely the length n of tierod 103 is changed, trapezoidal base angle γ changes thereupon, and the cornering properties of steering unit 10 is changed, to adapt to turn to requirement.According to walking requirement, when vehicle is kept straight on, each wheel should be that relative vehicle main car frame does not deflect, and namely wheel is all the time towards working direction, according to geometric relationship, arranges following angular relationship here: δ=3 pi/2-θ/2-γ, λ=pi/2-θ/2+ γ; Can find out, the angle δ proceeding to joint arm 101 and proceed between tie rod arm 102, and the included angle X producing joint arm 104 and produce between tie rod arm 105, control by the angle theta between drive axle and trapezoidal base angle γ, and under the wheelspan condition determined and steering mode, the numerical value of θ and γ is also determined, therefore, wheelspan b and steering mode determine the system parameter of whole steering unit.
In steering swivel system example structure as shown in Figure 3, proceed to joint arm 101 and produce joint arm 105 and realized by track arm 18, proceed to tie rod arm 102 and produce tie rod arm 104 and realized by steering trapezoidal arm 19, tierod 103 is realized by servo electric jar 20; Steering trapezoidal arm 19 one end is a big gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, an overall formation tie rod arm; Shaft gear 23 is equipped with in position near pivoted arm bearing pin on track arm 18, shaft gear 23 engages with the big gear wheel on steering trapezoidal arm 19, the rotation of gear wheel shaft 23 drives steering trapezoidal arm 19 to rotate, thus changes the size of angle between track arm 18 and steering trapezoidal arm 19; Track arm top is installed with turbine and worm stepping motor 21, and turbine and worm stepping motor 21 is connected with shaft gear 23 by coupler 22, drives shaft gear 23 to rotate; Servo electric jar 20 two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged, utilize servo programe can control the flexible of servo electric jar, thus change its length value.
The control method of whole steering swivel system is as follows: after vehicle chassis wheelspan changes, angle theta between two drive axles changes, for the wheelspan condition determined, the numerical value of this angle theta is determined, steering control system is according to this angle theta value, calculate optimum trapezoidal base angle γ and the length n value of tierod 103, and then draw the angle δ proceeding to joint arm 101 and proceed between tie rod arm 102, and the included angle X producing joint arm 104 and produce between tie rod arm 105, worked by servo system control two turbine and worm stepping motors 21 and servo electric jar 20, steering unit 10 is made to reach the construction parameter of expection, realize the cornering properties meeting this wheelspan condition, because turbine and worm stepping motor and servo electric jar all have good latching characteristics, therefore when wheelspan is constant, the construction parameter of steering unit 10 does not almost change, and to maintain these construction parameter be do not need control system to intervene, thus ensure that steering swivel system turn to precision and reliability.When vehicle needs to turn to, chaufeur steering wheel rotation, bearing circle drives deflector 502 to work, and drives steering power arm 5 to rotate, thus drives whole steering swivel system work, complete Vehicular turn.
Above embodiment, just utility model more preferably one of detailed description of the invention, the usual change of those skilled in the art in the aspects of utility model and replacing all should be included in the protection domain of utility model.
Claims (5)
1. a steering swivel system for flexible wheel base vehicle, comprises drive axle and cross-drive bridge, and for installing the vehicle main car frame of drive axle and cross-drive bridge, described steering swivel system also comprises steering unit and steering linkage; It is characterized in that: described drive axle and cross-drive bridge are hinged in respective point midway and form OC point; Described OC point is positioned on vehicle main car frame, drive axle and form center hinge connection mechanism between cross-drive bridge and vehicle main car frame;
Described center hinge connection mechanism comprises vehicle frame stub axle, steering power arm main shaft and deflector;
Described drive axle and cross-drive bridge are installed on vehicle frame stub axle, and described vehicle frame stub axle is a quill shaft, and steering power arm main shaft is connected with deflector through vehicle frame stub axle;
Described steering unit and steering linkage are arranged on drive axle or cross-drive bridge;
Described steering unit is formed by proceeding to joint arm, proceeding to tie rod arm, tierod, produce tie rod arm and producing joint arm;
Described steering linkage comprises steering power arm, left side pull bar, commutation rocking arm, left side drive spindle, right side pull bar, right side drive spindle, the trailing wheel arm of stability, right stabilizer bar, left stabilizer bar, stabilizer rod, track arm, steering trapezoidal arm, rear left wheel pivoted arm, right rear wheel pivoted arm, front left wheel pivoted arm and right front wheel pivoted arm;
Described steering power arm one end is articulated with OC point, and the other end is connected with the deflector be fixed on vehicle main car frame, is hinged with left side pull bar and right side pull bar by pitman pin simultaneously;
Described cross-drive bridge is welded with pivoted arm bearing pin, and weld nugget forms E point;
The described left side pull bar other end is hinged with one end of commutation rocking arm; The center pin axis hole of commutation rocking arm, through pivoted arm bearing pin, forms articulated structure with cross-drive bridge, and the other end is hinged with left side drive spindle; The left side drive spindle other end and front left wheel pivoted arm are hinged, the center shaft of front left wheel pivoted arm passes the axis hole of the left front end of intersection vehicle bridge, form articulated structure, front left wheel is equipped with in front left wheel pivoted arm lower end, right front wheel is equipped with in right front wheel pivoted arm lower end, rear left wheel is equipped with in rear left wheel pivoted arm lower end, and right rear wheel is equipped with in right rear wheel pivoted arm lower end;
Proceeding in the described right side pull bar other end and steering unit is saved arm and is hinged, and producing in drive spindle one end, right side and steering unit is saved arm and be hinged, and the other end and right front wheel pivoted arm are hinged.
2. the steering swivel system of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterized in that: described vehicle frame stub axle is a hollow shaft, be fixed on vehicle main car frame, the main shaft of steering power arm is through vehicle frame stub axle, and the other end is connected with the deflector be fixed on vehicle main car frame.
3. the steering swivel system of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterized in that: described track arm is connected to and proceeds to joint arm and produce between joint arm, steering trapezoidal arm is connected to and proceeds to tie rod arm and produce between tie rod arm, and tierod is connected with servo electric jar; Shaft gear is equipped with in position near pivoted arm bearing pin on track arm, and shaft gear engages with the big gear wheel on steering trapezoidal arm; Track arm top is installed with turbine and worm stepping motor, and turbine and worm stepping motor is connected with shaft gear by coupler; Servo electric jar two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged.
4. the steering swivel system of a kind of flexible wheel base vehicle as claimed in claim 1, is characterized in that: described steering trapezoidal arm one end comprises a big gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, an overall formation tie rod arm.
5. the steering swivel system of a kind of flexible wheel base vehicle as claimed in claim 1, is characterized in that: described trailing wheel arm of stability one end is articulated with OC point, and the other end is hinged with right stabilizer bar and left stabilizer bar simultaneously; The left stabilizer bar other end and rear left wheel pivoted arm are hinged; The right stabilizer bar other end and the one end that commutates hinged, the center-point of described commutation rocking arm is articulated with on drive axle, and hinge-point place has been welded pivoted arm bearing pin; The described commutation rocking arm other end and stabilizer rod are hinged; The stabilizer rod other end and right rear wheel pivoted arm are hinged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420474070.6U CN204055962U (en) | 2014-08-22 | 2014-08-22 | A kind of steering swivel system of flexible wheel base vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420474070.6U CN204055962U (en) | 2014-08-22 | 2014-08-22 | A kind of steering swivel system of flexible wheel base vehicle |
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| CN204055962U true CN204055962U (en) | 2014-12-31 |
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| CN201420474070.6U Expired - Fee Related CN204055962U (en) | 2014-08-22 | 2014-08-22 | A kind of steering swivel system of flexible wheel base vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149851A (en) * | 2014-08-22 | 2014-11-19 | 青岛理工大学 | Steering system and steering method of variable-wheel-tread vehicle |
| CN109373953A (en) * | 2018-11-19 | 2019-02-22 | 徐工消防安全装备有限公司 | Engineering truck and its control method |
| CN111851290A (en) * | 2020-07-27 | 2020-10-30 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
-
2014
- 2014-08-22 CN CN201420474070.6U patent/CN204055962U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149851A (en) * | 2014-08-22 | 2014-11-19 | 青岛理工大学 | Steering system and steering method of variable-wheel-tread vehicle |
| CN109373953A (en) * | 2018-11-19 | 2019-02-22 | 徐工消防安全装备有限公司 | Engineering truck and its control method |
| CN111851290A (en) * | 2020-07-27 | 2020-10-30 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
| CN111851290B (en) * | 2020-07-27 | 2021-10-15 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20200822 |