CN206187155U - Many topography carriage - Google Patents
Many topography carriage Download PDFInfo
- Publication number
- CN206187155U CN206187155U CN201621226290.2U CN201621226290U CN206187155U CN 206187155 U CN206187155 U CN 206187155U CN 201621226290 U CN201621226290 U CN 201621226290U CN 206187155 U CN206187155 U CN 206187155U
- Authority
- CN
- China
- Prior art keywords
- joint
- driving cabin
- support housing
- main body
- many landform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a many topography carriage, including cockpit main part, support housing and mechanical legs, the cockpit main part is installed on support housing, the many topography carriage front side is provided with a plurality of anterior visual systems, and the side is provided with a plurality of sides visual system, mechanical legs is total four, sets up respectively in support housing four corners department, and mechanical legs includes first joint, second joint, third joint and fourth joint. First joint, second joint, third joint and fourth joint be articulated linking to each other in proper order, and install first pneumatic cylinder between first joint and the second joint, installs the second pneumatic cylinder between second joint and the third joint, installs the third pneumatic cylinder between third joint and the fourth joint, a plurality of foot pneumatic cylinders are installed to fourth joint bottom. This many topography carriage sets up four mechanical legs and forms four -footed traveling mechanism, can satisfy the climbing, turn round, walk action such as ramp, has important market value and social value.
Description
Technical field
The utility model is related to a kind of truck, specifically a kind of many landform trucks.
Background technology
As the development in epoch, auto industry are fast-developing, increasing high-tech and people are employed in automobile production
The safety and amenities of property, make the function of automobile further perfect.Climbing the mountain, stair climbing or other situations without road surface walking
Under, existing automobile just cannot normally play a role, in the market also without a people for really being able to solve this problem
Use product.Therefore, at present when in face of these landform, by manpower and power can only be stored, research and development one kind can solve the problem that above mentioned problem
Many landform trucks, by with important market value and social value.
Utility model content
The purpose of this utility model is to provide a kind of many landform trucks, with asking for solving to propose in above-mentioned background technology
Topic.
To achieve the above object, the utility model provides following technical scheme：
A kind of many landform trucks, including driving cabin main body, support housing and pedipulator；The driving cabin main body is arranged on
On support housing；Driving cabin is also slidably fitted with the driving cabin main body to push；Many landform truck front sides are provided with
Multiple front portion vision systems, many landform truck sides are provided with multiple side vision systems；The pedipulator has four, point
It is not arranged at support housing corner, the pedipulator includes the first joint, second joint, the 3rd joint and the 4th joint, institute
State the first joint and support housing is connected to by vertical axis of rotation, be also equipped with driving the first joint on support housing around vertical
The electric rotating machine of axis of rotation；First joint, second joint, the 3rd joint and the 4th joint are hinged and connected successively, and the
First hydraulic cylinder is installed between one joint and second joint, second hydraulic cylinder is installed between second joint and the 3rd joint,
The 3rd hydraulic cylinder is installed between 3rd joint and the 4th joint；4th joint base is provided with multiple foot hydraulic cylinders,
And each foot hydraulic cylinder is controlled by corresponding electro-hydraulic proportional servo valve.
As further program of the utility model：The driving cabin lower body part is arc, is provided with support housing
The arc groove being engaged with the curved lower portion of driving cabin main body, arc groove is supported and wrapped up under the arc of driving cabin main body
Portion, driving cabin subject activity is arranged in the arc groove of support housing.
As the utility model further scheme：Spacing circle is additionally provided with the arc groove of the support housing
Hole, driving cabin bottom part body is provided with the spacing preiection being engaged with spacing circular hole, and spacing preiection is located in spacing circular hole, and limit
The diameter with diameter greater than spacing preiection in circle of position hole.
As the utility model further scheme：The driving cabin pushes and is arranged on driving cabin body tail section.
As the utility model further scheme：It is anterior that the anterior vision system is disposed on support housing；
The side vision system interval is arranged on the side of support housing.
As the utility model further scheme：The anterior vision system and side vision system are comprising infrared
System and illuminator.
As the utility model further scheme：The bottom of the support housing is additionally provided with four-wheel drive system chassis,
Four wheels are installed on four-wheel drive system chassis.
As the utility model further scheme：The driving cabin bottom part body is additionally provided with gyroscope balance system
System, gyroscope balance system includes gyroscope and spill spin block, and gyroscope balance system includes four gyroscopes being disposed vertically altogether.
As the utility model further scheme：4th joint base is provided with six foot hydraulic cylinders, six
Individual foot hydraulic cylinder is divided into two rows, often arranges three, is disposed in an evenly spaced relation in the 4th joint base.
As the utility model further scheme：The foot hydraulic cylinder bottom is provided with neonychium, the protection
Pressure sensor is provided with pad.
Compared with prior art, the beneficial effects of the utility model are：
1st, many landform trucks of the utility model, the motion structure of bionical cattle and sheep sets four pedipulators and forms four-footed row
Mechanism is sailed, each pedipulator there are four frees degree, disclosure satisfy that climbing, turn round, walk the action such as ramp, it is also possible to prevent from rolling,
Cannot be climbed the mountain and the problems such as stair climbing so as to solve existing automobile, with important market value and social value；
2nd, many landform trucks of the utility model can also be grounded traveling using four-wheel, for normal on flat ground
Traveling, it is practical；
3rd, many landform trucks of the utility model, each of which pedipulator bottom is provided with six foot hydraulic cylinders, six foots
Portion's hydraulic cylinder can stretch out different length, and the shape for contacting ground is changed with flexible, adapt to rough road surface and not
With the step of width, there is stronger earth-grasping force and security, and foot hydraulic cylinder also has cushioning effect, strengthens the truck
Comfortableness, the pressure sensor in the neonychium of foot hydraulic cylinder bottom can be prevented from stepping on empty or slipped；
4th, the adjustment effect that many landform trucks of the utility model pass through gyroscope balance system, makes driving cabin main body all the time
Horizontality is kept, when serious inclination, if beyond the adjustable range of gyroscope balance system, four machineries can be coordinated
The bending of leg regains the balance of driving cabin；
5th, many landform trucks of the utility model, its anterior vision system is used for automatically scanning road conditions, side vision system
For the road conditions around the monitor in real time truck vehicle body, the problem excessive to eliminate blind area under four-footed transport condition, front portion regards
Feel system and side vision system include infrared system and illuminator such that it is able to the change of light source is adapted to, even if at night
Evening can also complete the effect of monitoring road conditions.
Brief description of the drawings
Fig. 1 is the external structure schematic diagram of many landform trucks.
Fig. 2 is the structural representation of driving cabin main body and gyroscope balance system in many landform trucks.
Fig. 3 is the structural representation of support housing and pedipulator in many landform trucks.
Fig. 4 is the structural representation of pedipulator in many landform trucks.
Fig. 5 is the arrangement schematic diagram of the electric and oil circuit control of many landform trucks.
Fig. 6 is the dynamical system space arrangement schematic diagram of many landform trucks.
Fig. 7 is the structural representation of driving cabin main body in many landform trucks.
Fig. 8 is the structural representation of gyroscope balance system in many landform trucks.
Fig. 9 is the structural representation of support housing in many landform trucks.
Figure 10 is the structural representation of the 4th joint and foot hydraulic cylinder in many landform trucks.
Figure 11 is schematic diagram when the normal four-footed of many landform trucks is travelled.
Structure when Figure 12 is gyroscope balance system and pedipulator the cooperation holding driving cabin level of many landform trucks
Schematic diagram.
Figure 13 is structural representation when many landform truck four-wheels are travelled.
Figure 14 is structural representation when many landform trucks are travelled on ladder road.
In figure：1- driving cabins push, 2- driving cabins main body, 3- support the anterior vision system of housing, 4-, 5- side visions system
System, 6- four-wheel drive systems chassis, 7- wheels, 8- gyroscopes balance system, 9- electric rotating machines, the joints of 10- first, 11- second joints,
The joints of 12- the 3rd, the joints of 13- the 4th, 14- first hydraulic cylinders, 15- second hydraulic cylinders, the hydraulic cylinders of 16- the 3rd, 17- foot hydraulic pressure
Cylinder, 18- neonychiums.
Specific embodiment
The technical solution of the utility model is described in more detail with reference to specific embodiment.
Refer to Fig. 1-14, a kind of many landform trucks, including driving cabin main body 2, support housing 3 and pedipulator；It is described
The bottom of driving cabin main body 2 is arc, is provided with support housing 3 recessed with the arc that the curved lower portion of driving cabin main body 2 is engaged
Groove, arc groove is supported and wraps up the curved lower portion of driving cabin main body 2, and driving cabin main body 2 is movably arranged on the arc of support housing 3
In connected in star, so that support housing 3 can provide support to driving cabin main body 2, at the same time, driving cabin main body 2 can also
The activity on support housing 3, to keep balance；Spacing circular hole, driving cabin are additionally provided with the arc groove of the support housing 3
The bottom of main body 2 is provided with the spacing preiection being engaged with spacing circular hole, and spacing preiection is located in spacing circular hole, and spacing circular hole
With diameter greater than the diameter of spacing preiection, make driving cabin main body 2 support housing 3 on have certain displacement, spacing circular hole with
Spacing preiection coordinates to limit the displacement of driving cabin main body 2, the displacement of driving cabin main body 2 is in suitable scope；
Driving cabin is also slidably fitted with the driving cabin main body 2 and pushes 1, pushed away and carry out driving cabin and push 1, driver can push from driving cabin
Enter in driving cabin main body 2 at 1, it is also possible to pushed 1 handling goods via driving cabin, driving cabin pushes 1 in driving cabin main body 2
Particular location it is without restriction, in the present embodiment, it is preferred that the driving cabin pushes and 1 is arranged on the afterbody of driving cabin main body 2, by
It is higher in the driving cabin position of the truck, driving cabin is pushed and 1 is arranged on the afterbody of driving cabin main body 2 and is beneficial to unload goods
Thing, similar to cargo aircraft deck store door, the driving cabin push 1 have car door effect；Many landform truck front sides are provided with
Multiple front portion vision systems 4, for automatically scanning road conditions, and are sent to turn-key system, turn-key system by the traffic information of acquisition
To obtain information be analyzed after determine to set foot on a little, it is of course also possible to select manual remote control or it is manually operated start, front portion regards
The installation site of feel system 4 is without restriction, in the present embodiment, it is preferred that the anterior vision system 4 is disposed on supporting shell
Body 3 is anterior, and many landform truck sides are provided with multiple side vision systems 5, for the monitor in real time truck vehicle body
Around road conditions, the problem excessive to eliminate blind area under four-footed transport condition, the installation site of side vision system 5 is not added with limit
System, in the present embodiment, it is preferred that the side vision system 5 is disposed on the side of support housing 3, the anterior vision
System 4 and side vision system 5 include infrared system and illuminator such that it is able to the change of light source is adapted to, even if at night
Evening can also complete the effect of monitoring road conditions；The bottom of the support housing 3 is additionally provided with four-wheel drive system chassis 6, four-wheel drive system bottom
Four wheels 7 are installed, four-wheel drive system chassis 6 is existing automobile four-wheel drive system, so that the truck can be as general on disk 6
Logical automobile is equally travelled using wheel on smooth ground；The bottom of driving cabin main body 2 is additionally provided with gyroscope balance
System 8, gyroscope balance system 8 includes gyroscope and spill spin block, and gyroscope balance system 8 includes four tops being disposed vertically altogether
Spiral shell instrument, each two gyroscope is one group, and one of which gyroscope is used to keep left-right balance, before another group of gyroscope is for keeping
After balance, so, the truck roll certain angle when, by the adjustment effect of gyroscope balance system 8, make driving cabin master
Body 2 remains horizontality；The pedipulator has four, is separately positioned at 3 four jiaos of housing of support, four pedipulator shapes
Into four-footed traveling mechanism, climbing is disclosure satisfy that, turned round, walked the action such as ramp, the pedipulator includes that the first joint 10, second is closed
Section the 11, the 3rd joint 12 and the 4th joint 13, first joint 10 are connected to support housing 3, branch by vertical axis of rotation
It is also equipped with driving the first joint 10 on support housing 3 around the electric rotating machine 9 of vertical axis of rotation, under four-footed transport condition, rotation
Motor 9 can carry out assistance turning when the truck is turned, in addition, driven from four-footed being changed into in-wheel driving in the truck
When, the electric rotating machine 9 starts, so that whole pedipulator is formed similar to driving around the side of the vertical axis of rotation truck
The structure of cabin bumper and reinforcement cover, to strengthen the security of driving cabin；First joint 10, second joint the 11, the 3rd are closed
The joint 13 of section 12 and the 4th is hinged and connected successively, and is provided with first hydraulic cylinder 14 between the first joint 10 and second joint 11,
For driving second joint 11 around the axis of rotation in the first joint 10, second joint 11 and the 3rd is provided with second between joint 12
Hydraulic cylinder 15, for driving the 3rd joint 12 around the axis of rotation of second joint 11, between the 3rd joint 12 and the 4th joint 13
3rd hydraulic cylinder 16 is installed, for driving the 4th joint 13 around the axis of rotation in the 3rd joint 12；The bottom of 4th joint 13
Portion is provided with multiple foot hydraulic cylinders 17, and each foot hydraulic cylinder 17 is controlled by corresponding electro-hydraulic proportional servo valve, from
And realize that multiple foot hydraulic cylinders 17 can stretch out different length, and changing the shape for contacting ground with flexible, adaptation is concavo-convex not
Flat road surface and the step of different in width, there is stronger earth-grasping force and security, in addition, foot hydraulic cylinder 17 also has damping
Effect, strengthens the comfortableness of the truck, in the present embodiment, it is preferred that the bottom of the 4th joint 13 is provided with six foots
Hydraulic cylinder 17, six foot hydraulic cylinders 17 are divided into two rows, often arrange three, are disposed in an evenly spaced relation in the bottom of the 4th joint 13；It is described
The bottom of foot hydraulic cylinder 17 is provided with neonychium 18, and neonychium 18 is made up of rubber with fibrous material and metal material, and can enter
Row is changed, and pressure sensor is provided with the neonychium 18, and pressure data can be real-time transmitted to middle control by pressure sensor
System, during automatic Pilot, only when pressure data reaches safe range, central control system can just send instruction and perform next moving
Make, in pilot steering, pressure value is displayed on the display screen in driving cabin.
The power supply plan on four-wheel drive system chassis 6 as shown in figure 5, four-wheel drive motor uses thulium permanent magnetism gear,
The motor has the advantages that commutation ability is good, noise is low, efficiency high, high efficient district are wide, overload capacity is strong.
Full-vehicle control mainly completes full-vehicle control and energy management two parts function with EMS, is responsible for collection
The operation information of the subsystems of vehicle simultaneously carries out monitor and diagnosis, maintains all batteries to be in optimum state, and control is charged
Mode and dump energy is provided the responsibility such as shows, and implement following functions.
（1）Whole vehicle information detection and display, including：The simulation such as air pressure signal, accelerator pedal and brake pedal is acted charitably, and
Speed, advance, retrogressing, controller switches, heating switch, air pump switch, pump switch and the switching value such as hand braking.
（2）The information related with motor is communicated to motor controller and shown by CAN.
（3）Gearshift control is carried out, avoids battery depth from putting a little by controlling primary cut-out.
（4）Power battery pack infomation detection and display, including：Total current, total voltage, power battery pack charged state
Estimation, single branch cell voltage and every case battery pack temperature.
（5）Safeguard that battery is used：Put a undervoltage warning, charging over voltage alarm, cell damage alarm.
（6）Communicated with charger by CAN.
The high voltage direct current of power battery pack output passes through high-voltage electrical apparatus block terminal and motor, compressor of air conditioner, turns
Realize that energy is distributed to system drive motor and brakes motor etc., while passing through DC/DC converters by 384V high pressures
Direct current is changed into 24V low-tension currents, for instrument, illumination, control system and body accessories provide electric energy, and is booster battery
Charge.
Vehicle dynamical system arrangement arranges cavity as shown in fig. 6, wherein A is internal combustion engine, and B is electric power system and transmission system
Cavity, C is control system cavity.
Operation principle of the present utility model is：Many landform trucks, can both be driven using four-footed, it would however also be possible to employ
In-wheel driving, when being driven using four-footed, four pedipulators on support housing 3 form four-footed traveling mechanism, Neng Gouman
Foot is climbed, turned round, walking the action such as ramp, it is also possible to prevent from rolling, the road conditions for being difficult to travel in common in-wheel driving are descending
Sail.When traveling is to flat road surface, to switch to in-wheel driving, then pedipulator bending is shunk, and electric rotating machine 9 starts,
So that whole pedipulator forms similar to driving cabin bumper and strengthens the knot of cover around the side of the vertical axis of rotation truck
Structure, to strengthen the security of driving cabin.In the process of moving, anterior vision system 4 be used for automatically scanning road conditions, and by obtain
Traffic information is sent to turn-key system, and turn-key system determines to set foot on a little after being analyzed the information for obtaining, and is set in neonychium 18
Pressure data can be real-time transmitted to central control system by the pressure sensor put, only when pressure data reaches safe range,
Central control system can just send instruction and perform next action, prevent from stepping on empty or slip, and side vision system 5 should for monitor in real time
Road conditions around truck vehicle body, the problem excessive to eliminate blind area under four-footed transport condition, anterior vision system 4 and side regard
Feel system 5 includes infrared system and illuminator such that it is able to adapt to the change of light source, even if can also complete monitoring at night
The effect of road conditions, it is of course also possible to select manual remote control or it is manually operated start, in pilot steering, pressure value is displayed in
On display screen in driving cabin.Gyroscope balance system 8 is used to keep in the process of moving the balance of vehicle body, in the truck side
Incline certain angle when, by the adjustment effect of gyroscope balance system 8, driving cabin main body 2 is remained horizontality, tight
When heavy side inclines, if beyond the adjustable range of gyroscope balance system 8, four bendings of pedipulator can be coordinated to obtain again
Obtain the balance of driving cabin.
The many landform trucks of the utility model, the motion structure of bionical cattle and sheep sets four pedipulators and forms four-footed traveling
Mechanism, each pedipulator has four frees degree, disclosure satisfy that climbing, turns round, walks the action such as ramp, it is also possible to prevents from rolling, from
And solving existing automobile cannot climb the mountain and the problems such as stair climbing, with important market value and social value；This practicality is new
The many landform trucks of type can also be grounded traveling using four-wheel, practical for the normally travel on flat ground；This reality
With new many landform trucks, each of which pedipulator bottom is provided with six foot hydraulic cylinders 17, six energy of foot hydraulic cylinder 17
Different length are enough stretched out, with the flexible platform for changing the shape for contacting ground, adapting to rough road surface and different in width
Rank, there is stronger earth-grasping force and security, and foot hydraulic cylinder 17 also has cushioning effect, strengthens the comfortableness of the truck,
Pressure sensor in the bottom neonychium 18 of foot hydraulic cylinder 17, can prevent from stepping on empty or slip；The many landform of the utility model are carried
The adjustment effect that fortune car passes through gyroscope balance system 8, makes driving cabin main body 2 remain horizontality, in serious inclination
When, if beyond the adjustable range of gyroscope balance system 8, four bendings of pedipulator can be coordinated to regain driving cabin
Balance；The many landform trucks of the utility model, its anterior vision system 4 is used for automatically scanning road conditions, and side vision system 5 is used
Road conditions around the monitor in real time truck vehicle body, the problem excessive to eliminate blind area under four-footed transport condition, anterior vision
System 4 and side vision system 5 include infrared system and illuminator such that it is able to the change of light source is adapted to, even if at night
Evening can also complete the effect of monitoring road conditions.
Better embodiment of the present utility model is explained in detail above, but the utility model be not limited to it is above-mentioned
Implementation method, in the ken that one skilled in the relevant art possesses, can also not depart from the utility model ancestor
Various changes can be made on the premise of purport.
Claims (10)
1. a kind of many landform trucks, it is characterised in that including driving cabin main body（2）, support housing（3）And pedipulator；It is described
Driving cabin main body（2）Installed in support housing（3）On；The driving cabin main body（2）On be also slidably fitted with driving cabin and push
（1）；Many landform truck front sides are provided with multiple front portion vision systems（4）, many landform truck sides are provided with multiple
Side vision system（5）；The pedipulator has four, is separately positioned on support housing（3）At corner, the pedipulator includes
First joint（10）, second joint（11）, the 3rd joint（12）With the 4th joint（13）, first joint（10）By vertical
Axis of rotation is connected to support housing（3）, support housing（3）On be also equipped with drive the first joint（10）Around vertical axis of rotation
Electric rotating machine（9）；First joint（10）, second joint（11）, the 3rd joint（12）With the 4th joint（13）Cut with scissors successively
Connect connected, and the first joint（10）With second joint（11）Between first hydraulic cylinder is installed（14）, second joint（11）With
Three joints（12）Between second hydraulic cylinder is installed（15）, the 3rd joint（12）With the 4th joint（13）Between the 3rd liquid is installed
Cylinder pressure（16）；4th joint（13）Bottom is provided with multiple foot hydraulic cylinders（17）, and each foot hydraulic cylinder（17）
Controlled by corresponding electro-hydraulic proportional servo valve.
2. many landform trucks according to claim 1, it is characterised in that the driving cabin main body（2）Bottom is arc,
Support housing（3）On be provided with and driving cabin main body（2）The arc groove that is engaged of curved lower portion, arc groove supports and wraps
Wrap up in driving cabin main body（2）Curved lower portion, driving cabin main body（2）It is movably arranged on support housing（3）Arc groove in.
3. many landform trucks according to claim 2, it is characterised in that the support housing（3）Arc groove in
It is additionally provided with spacing circular hole, driving cabin main body（2）Bottom is provided with the spacing preiection being engaged with spacing circular hole, spacing preiection position
In in spacing circular hole, and spacing circular hole the diameter with diameter greater than spacing preiection.
4. many landform trucks according to claim 1, it is characterised in that the driving cabin pushes（1）It is arranged on driving
Cabin main body（2）Afterbody.
5. many landform trucks according to claim 1, it is characterised in that the anterior vision system（4）Interval setting
In support housing（3）It is anterior；The side vision system（5）It is disposed on support housing（3）Side.
6. many landform trucks according to claim 1, it is characterised in that the anterior vision system（4）Regarded with side
Feel system（5）Include infrared system and illuminator.
7. according to any described many landform trucks of claim 1-6, it is characterised in that the support housing（3）Bottom
It is additionally provided with four-wheel drive system chassis（6）, four-wheel drive system chassis（6）On four wheels are installed（7）.
8. many landform trucks according to claim 7, it is characterised in that the driving cabin main body（2）Bottom also sets up
There is gyroscope balance system（8）, gyroscope balance system（8）Including gyroscope and spill spin block, gyroscope balance system（8）Wrap altogether
Include four gyroscopes being disposed vertically.
9. many landform trucks according to claim 8, it is characterised in that the 4th joint（13）Bottom is provided with six
Individual foot hydraulic cylinder（17）, six foot hydraulic cylinders（17）It is divided into two rows, often arranges three, is disposed in an evenly spaced relation in the 4th joint
（13）Bottom.
10. many landform trucks according to claim 9, it is characterised in that the foot hydraulic cylinder（17）Install bottom
There is neonychium（18）, the neonychium（18）Inside it is provided with pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621226290.2U CN206187155U (en) | 2016-11-15 | 2016-11-15 | Many topography carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621226290.2U CN206187155U (en) | 2016-11-15 | 2016-11-15 | Many topography carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206187155U true CN206187155U (en) | 2017-05-24 |
Family
ID=58726523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621226290.2U Expired - Fee Related CN206187155U (en) | 2016-11-15 | 2016-11-15 | Many topography carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206187155U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN110143242A (en) * | 2019-04-25 | 2019-08-20 | 国网山东省电力公司东营供电公司 | Handling device |
-
2016
- 2016-11-15 CN CN201621226290.2U patent/CN206187155U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN110143242A (en) * | 2019-04-25 | 2019-08-20 | 国网山东省电力公司东营供电公司 | Handling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170524 Termination date: 20171115 |