CN206344650U - The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel - Google Patents
The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel Download PDFInfo
- Publication number
- CN206344650U CN206344650U CN201621269912.XU CN201621269912U CN206344650U CN 206344650 U CN206344650 U CN 206344650U CN 201621269912 U CN201621269912 U CN 201621269912U CN 206344650 U CN206344650 U CN 206344650U
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- suspension
- steering
- straight trip
- module
- brake
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Abstract
The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel, including suspension basket, suspension, straight trip driving-chain, steering driving-chain, damping module, brake module and control module；Revolving support is provided between suspension basket and suspension；Straight trip driving-chain is connected with damping module, and damping module and brake module are installed on suspension；Turning to driving-chain includes steering power mechanism and turns to testing agency, steering power mechanism and the outer ring of suspension basket and revolving support are connected in turn, the output end of steering power mechanism and the inner ring of revolving support and suspension are connected in turn, and turn to testing agency and are arranged on suspension basket and are connected with steering power mechanism by gear drive；Module is controlled to include straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake control unit.The driving wheel structure is compact, handling good, integrates driving, automatically controlled, brake, damping, detection and control device, and speed and angle control are accurate.
Description
Technical field
The utility model be related to it is a kind of for robot and motor vehicles walking and turn to be integrated with hydraulic braking with it is outstanding
The servo drive wheel of extension system, belongs to machine-walking and steering technique field.
Background technology
The outstanding achievement that science and technology is brought has penetrated into the every aspect of our lives, similar particularly in automobile industry
Automatic parking, cruise, or even automatic Pilot are nowadays all of common occurrence.Good manipulation sense, comfortable running environments, height
Although the private customized grade of level can attract most notice, turn to the limitation in space, motion mode it is single really
It is that short slab incessantly is covered in a development of automobile.
Although also there is many all-around mobile vehicles for disperseing driving using Mecanum wheel or many wheel bodys now,
It is mostly that extraordinary carrier is miniaturized, or workshop AGV (automatical pilot transportation vehicle) etc., really it is not introduced into daily civilian
Field.
Need badly at present one kind can in parking or traveling 360 ° of pivot studs, and have for irregular potted road surface
Walking and steering servo drive wheel of the strong stabilization by performance.
Utility model content
In order to overcome the shortcomings of that prior art is present, the utility model provides a kind of collection driving, automatically controlled, brake, damping, inspection
Survey, control device are in one, and compact conformation, the walking of handling good integration hydraulic brake and suspension and steering servo are driven
Driving wheel.
The walking of integration hydraulic brake of the present utility model and suspension and steering servo drive wheel, using following technologies
Scheme：
The walking and steering servo drive wheel, including suspension basket, suspension, straight trip driving-chain, steering driving-chain, damping mould
Group, brake module and control module；Revolving support is provided between suspension basket and suspension；Driving-chain of keeping straight on connects with damping module
Connect, damping module and brake module are installed on suspension；Turning to driving-chain includes steering power mechanism and turns to testing agency,
Steering power mechanism and the outer ring of suspension basket and revolving support are connected in turn, and the output end of steering power mechanism is with returning
Turn support inner ring and suspension be connected in turn, turn to testing agency be arranged on suspension basket on and with steering power mechanism
Connected by gear drive；Module is controlled to include straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake
Control unit；Straight trip driving-chain is connected with straight trip velocity close-loop control unit by controlling bus；Steering power mechanism and steering
Testing agency is connected with steering position Closed Loop Control Unit by controlling bus；Brake module is connected with brake control unit.
The steering power mechanism, including servomotor and decelerator are turned to, decelerator is connected to decelerator mounting flange
On, the outer ring of decelerator mounting flange, suspension basket and revolving support is connected in turn, and input and the steering of decelerator are watched
Take motor connection, the output end of decelerator is provided with survey corner one-stage gear, survey corner one-stage gear, the inner ring of revolving support with
Suspension is connected in turn, and turns to servomotor and is connected by controlling bus with steering position Closed Loop Control Unit.
The steering testing agency, including survey corner absolute value encoder, survey corner double-reduction gear and gear support
Frame, surveys corner absolute value encoder and is arranged on gear support frame, survey corner secondary gear be arranged in gear support frame and with
Survey corner one-stage gear engagement in steering power mechanism, surveys corner secondary gear and is connected with surveying corner absolute value encoder, tooth
Wheeling supporting frame is arranged on suspension basket, is surveyed corner absolute value encoder and is connected by controlling bus and steering position Closed Loop Control Unit
Connect.
The brake module, including Linear-electric-cylinder, hydraulic oil pump, disk brake and disk brake caliper；Linear-electric-cylinder is installed
In on suspension, hydraulic oil pump is connected with Linear-electric-cylinder, and hydraulic oil pump is connected by oil hose with disk brake caliper, disk brake peace
On the wheel axis in straight trip driving-chain, disk brake caliper is arranged in the support plate in straight trip driving-chain, Linear-electric-cylinder
It is connected by controlling bus with brake control unit.
The straight trip driving-chain, including tire, wheel rim, wheel hub motor, wheel axis, support plate and straight trip are tested the speed absolute value
Encoder, wheel hub motor is arranged on the wheel rim in tire, and wheel axis one end is connected with wheel hub motor, one end and damping module
In the connection of line slideway fixed mount, disk brake is installed on wheel axis and straight trip is tested the speed one-stage gear, support plate is fixed in
On line slideway fixed mount in damping module, straight trip tests the speed absolute value encoder in support plate, and straight trip is tested the speed definitely
It is provided with and is tested the speed secondary gear with the straight trip straight trip that one-stage gear engages of testing the speed on value encoder, wheel hub motor and straight trip is tested the speed absolutely
Value encoder is connected by controlling bus with straight trip velocity close-loop control unit.The straight trip tests the speed one-stage gear with keeping straight on
Test the speed secondary gear gearratio be 11:4.
The damping module, including elastic damping cylinder, linear bearing, line slideway and line slideway fixed mount, elasticity
Damping cylinder one end is connected on suspension, and the other end is connected by bearing pin with line slideway fixed mount, and line slideway is fixed on directly
On line guide rails fixing support, linear bearing is arranged on line slideway and is fixed on suspension.
The course of work of above-mentioned driving wheel is as follows：
When straight trip, power source is wheel hub motor, and rate signal is given by host computer, by gear drive by actual wheel
Velocity feedback is transferred to control module straight trip velocity close-loop control unit to straight trip speed measuring coder one end, and then by rate signal
In, and made comparisons with given speed, according to error transfer factor speed preset after amendment.When wheel steering, steering angle signal by
Host computer is given, and steering power mechanism direct drive suspension is rotated, while its corner is fed back into steering testing agency, and then angle
Degree signal is fed back in steering position Closed Loop Control Unit, and is made comparisons with given angle, according to error transfer factor corner after amendment
It is given.Damping module is mainly used in wheel row to the buffering and shock preventing on hollow ground.When needing brake, on the one hand in control module
Velocity close-loop control unit of keeping straight on receives the In-wheel motor driving that host computer signal disconnects straight trip driving-chain, on the other hand control mould
Brake control unit in group receives host computer signal, and control brake module completes brake.
The utility model compact conformation, assembling is easy, handling good；Have the characteristics that：
1. it is compact to design, integrate multiple functional module groups；By a wheel hub motor and a steering brushless type direct current servo
Motor is provided, and integrates driving, automatically controlled, brake, damping, detection, control device.Wheel is simply compact with car body interface, speed
Degree, angle control are accurate.
2. can in parking or traveling 360 ° of pivot studs, GOTO field extends to 360 °, straight trip speed and steering angle
Degree uses closed-loop control, and motion is accurate.
3. with passive energy dissipation buffering and hydraulic explosion-proof disc brake function, there is stronger stabilization for irregular potted road surface
By performance, its high speed can show preferable dynamic and operation by being stopped when irregular hogwallow or high speed
Sense.
Brief description of the drawings
Fig. 1 is that the utility model integration hydraulic brake is illustrated with the walking of suspension and the outward appearance of steering servo drive wheel
Figure.
Fig. 2 is the structural representation of steering driving-chain in the utility model.
Fig. 3 is the structural representation of brake module in the utility model.
Fig. 4 is that the knot of straight trip driving-chain in the utility model makes schematic diagram.
Fig. 5 is the structural representation of damping module in the utility model.
In figure：1. suspension basket, 2. suspensions, 3. control modules, 4. steering power mechanisms, 5. turn to testing agency, 6. brakes
Module, 7. straight trip driving-chains, 8. damping modules；
401. steering servomotors, 402. motor mounting flanges, 403. harmonic speed reducers, 404. survey corner one-stage gears,
405. decelerator mounting flanges, 406. revolving supports；
501. survey corner absolute value encoder, 502. encoder mounting flanges, 503. deep groove ball bearings, 504. survey corners two
Level gear, 505. gear support frames；
601. Linear-electric-cylinders, 602. hydraulic oil pumps, 603. disk brakes, 604. disk brake calipers, 605. oil hoses；
701. tires, 702. wheel hub motors, 703. wheel rims, 704. straight trips are tested the speed one-stage gear, 705. wheel axis, 706.
Straight trip is tested the speed secondary gear, 707. support plates, and 708. straight trips are tested the speed absolute value encoder；
801. elastic damping cylinders, 802. line slideway fixed mounts, 803. spacing block rubbers, 804. linear bearings, 805.
Line slideway.
Embodiment
The walking of integration hydraulic brake of the present utility model and suspension and steering servo drive wheel, as shown in figure 1, bag
Include suspension basket 1, suspension 2, straight trip driving-chain 7, steering driving-chain, damping module 8, brake module 6 and control module 3.Suspension basket 1
It is connected by revolving support 406 with suspension 2 (referring to Fig. 2).Turning to driving-chain includes steering power mechanism 4 and turns to detection machine
Structure 5 (referring to Fig. 2).Steering power mechanism 4 and steering testing agency 5 are installed in the top of suspension basket 1, and are placed in suspension basket 1
It is interior.
Module 3 is controlled to include straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake control unit,
Three control units are integrated in control box, and control box is arranged on suspension basket 1 and is placed in inside suspension basket 1.Closed-loop control list
Member can use prior art, all be analog circuit.In straight trip velocity close-loop control unit and steering position Closed Loop Control Unit
Including signal amplifier, arithmetic unit, actuator, signal acquisition and feedback module.Host computer Setting signal can be voltage, also may be used
Electric current is thought, by compared with wheel actual feedback signal (voltage or electric current), after the difference drawn is amplified through amplifier
Arithmetic unit is further given, actual control voltage or electric current are applied to by electrical components by the calculating of arithmetic unit, entered
And straight trip speed and crank degree are corrected, reach the effect of straight trip speed servo and crank degree servo.And brake control unit
Without feedback, so compared with than the collection of the above two default signal and feedback module, remainder and principle are identical.
As shown in Fig. 2 steering power mechanism 4 includes turning to servomotor 401, decelerator 403 and surveys corner one-stage gear
404.Turn to servomotor 401 and use brushless DC servomotor, decelerator 403 is using accurate harmonic speed reducer.Turn to servo
Motor 401 is arranged on motor mounting flange 402, and motor mounting flange 402 is connected on the shell of decelerator 403, decelerator
403 are arranged on decelerator mounting flange 405, and the input of decelerator 403 is connected with turning to servomotor 401, decelerator
403 output end is provided with survey corner one-stage gear 404.Revolving support 406 is as connection arrangement, including relative can turn
Dynamic inner ring and outer ring.The outer ring of decelerator mounting flange 405, suspension basket 1 and revolving support 406 is sequentially connected by bolt
Together, corner one-stage gear 404, the inner ring of revolving support 406 and suspension 2 is surveyed to be connected in turn by stay bolt.
Turning to testing agency 5 includes surveying corner absolute value encoder 501, encoder mounting flange 502, deep groove ball bearing
503rd, corner double-reduction gear 504 and gear support frame 505 are surveyed.Survey corner absolute value encoder 501 is fixed on encoder and consolidated
Determine to be meshed on flange 502 and with surveying corner secondary gear 504, survey corner secondary gear 504 and installed by deep groove ball bearing 503
Engaged in gear support frame 505 and with surveying corner one-stage gear 404.The installation axle for surveying corner secondary gear 504 stretches out gear
Support frame 505 is simultaneously connected by jackscrew with surveying corner absolute value encoder 501.Gear support frame 505 is arranged on the interior of suspension basket 1
On portion bottom surface.Encoder mounting flange 502 is fixed on suspension basket 1.
Turn to servomotor 401 and survey corner absolute value encoder 501 and pass through data/address bus and steering position closed loop control
Unit connection processed, receives the direct control of steering position Closed Loop Control Unit.Survey the detection signal of corner absolute value encoder 501
It is transferred directly to by controlling bus among steering position Closed Loop Control Unit.
Turning to after servomotor 401 is slowed down by decelerator 403 drives suspension 2 to rotate, and realizes wheel steering；While rotating speed
Survey corner absolute value encoder 501 is passed to by surveying corner one-stage gear 404 with surveying engaging for corner secondary gear 504, it is real
Turn now to detection.The gearratio that corner one-stage gear 404 is surveyed with surveying corner secondary gear 504 is 1:1.
As shown in figure 3, brake module 6 includes Linear-electric-cylinder 601, hydraulic oil pump 602, disk brake 603 and disk brake caliper
604；Linear-electric-cylinder 601 is installed on the side of suspension 2, and hydraulic oil pump 602 is connected on Linear-electric-cylinder 601, hydraulic oil pump
602 are connected by oil hose 605 with disk brake caliper 604.Disk brake 603 is arranged on wheel axis 705.Disk brake caliper 604
In support plate 707.Linear-electric-cylinder 601 is connected by controlling bus with brake control unit, receives brake control single
The direct control of member.
As shown in figure 4, straight trip driving-chain 7 is surveyed by tire 701, wheel hub motor 702, wheel rim 703, wheel axis 705, straight trip
Test the speed secondary gear 706, support plate 707 and the straight trip of fast one-stage gear 704, straight trip is tested the speed absolute value encoder 708.Wheel hub motor
702 are arranged on the wheel rim 703 of tire 701, and wheel hub motor 702 is structure as a whole with tire 701.Wheel axis 705 and wheel hub
Motor 702 is connected.Disk brake 603 is installed on wheel axis 705 and straight trip is tested the speed one-stage gear 704, wheel axis 705 passes through
Flat key is connected with the line slideway fixed mount 802 in damping module.Referring to Fig. 5, support plate 707 is fixed in line slideway fixed mount
On 802.Straight trip tests the speed absolute value encoder 708 in the support plate 707, and straight trip is tested the speed installation on absolute value encoder 708
Have and tested the speed secondary gear 706 with the straight trip straight trip that one-stage gear 704 engages of testing the speed.Straight trip test the speed one-stage gear 704 with straight trip survey
The gearratio of fast secondary gear 706 is 11:4.Wheel hub motor 702 and straight trip test the speed absolute value encoder 708 by controlling always
Line is connected with straight trip velocity close-loop control unit, receives the direct control of straight trip velocity close-loop control unit.
As shown in figure 5, damping module 8 includes elastic damping cylinder 801, line slideway fixed mount 802, linear bearing 804
With line slideway 805.Elastic damping cylinder 801 is connected on suspension 2, line slideway fixed mount 802 and elastic damping cylinder
801 connections, line slideway 805 is arranged on line slideway fixed mount 802, and the upper end of linear bearing 804 sets limited location rubber
Block 803.The linear bearing 804 usherd to seat coordinates with line slideway 805, and is fixed on suspension 2.On line slideway fixed mount 802
Connect support plate 707.
When wheel is kept straight on or retreated, the straight trip speed that host computer is given in the control signal of module signal 3, control module 3 is closed
Ring control unit sends execution signal to wheel hub motor, and wheel hub motor 702 produces driving moment and rotating speed, drives by tire 701
The wheel constituted with wheel rim 703 is by moving ahead or retreating.Tested the speed by keeping straight on one-stage gear 23 and straight trip of travel speed is tested the speed secondary gear
The 11 of the composition of wheel 25:4 step-up drives feed back to straight trip and tested the speed on absolute value encoder 708.Straight trip is tested the speed absolute value encoder
708 rate signals detected feed back to control module 3 in straight trip velocity close-loop control unit in, by with input signal
Compare, according to error transfer factor speed preset after amendment, so that travel speed is equal with given speed.
During wheel steering, steering angle signal is applied in the control steering position Closed Loop Control Unit of module 3 by host computer,
The control signal of generation further controls to turn to servomotor 401, turns to the output speed of servomotor 401 with moment of torsion by decelerator
403 decelerations, which increase, turns round after-applied on suspension 2, and then drives each several part on suspension 2 together to turn to.It is connected with decelerator 403
Corner one-stage gear 404 is surveyed to pass to the angular displacement of output with the suitable survey corner secondary gear 504 of its number of teeth, and then band
Dynamic coupled survey corner absolute value encoder 501 produces rotary angle signal, and this signal with control module 3 by turning to position
The input signal put in Closed Loop Control Unit compares, and is further compensate for according to error giving after amendment, so that actual steering
Angle is logical given equal.
When wheel is by uneven rough ground, tire 701 contacts the surface relief produced with ground in straight trip driving-chain 7
Information is reflected on line slideway fixed mount 802 by wheel axis 705, is further promoted elastic damping cylinder 28, is passed through bullet
Property the elastic buffer of damping cylinder 28 and energy damping dissipate, by ground fluctuate decrease or eliminate.Line slideway 805 with
Linear bearing 804 mainly play the guiding role, and on the one hand ensures the position relation of straight trip driving-chain 7 and suspension 2, on the one hand ensures ground
Face, which fluctuates, keeps vertical direction to be delivered on elastic damping cylinder 801.
When wheel needs jerk, straight trip velocity close-loop control unit of the one side host computer into control module 3 is transmitted
Number, and then by the speed and torque output of straight trip velocity close-loop control unit signalling cutting-off controlling wheel hub motor 703.Meanwhile,
The signal feeding of host computer is to the brake control unit in control module 3, and then the signal hair after brake control unit is handled
It is sent in Linear-electric-cylinder 601, the cylinder rod of Linear-electric-cylinder 601 is stretched out, the piston of hydraulic oil pump 602 is pushed into topmost, it is living
Hydraulic oil is expressed in disk brake caliper 604 by plug by oil hose 605 again, and disk brake caliper 604 clamps disk brake 603, makes wheel
Hub motor 702 slows down, and then wheel gait of march is decreased into zero, and wheel stops operating.
Claims (7)
1. walking and the steering servo drive wheel of a kind of integration hydraulic brake and suspension, including suspension basket, suspension, straight trip biography
Dynamic chain, steering driving-chain, damping module, brake module and control module；It is characterized in that：It is provided with back between suspension basket and suspension
Turn support；Straight trip driving-chain is connected with damping module, and damping module and brake module are installed on suspension；Turn to driving-chain bag
Include steering power mechanism and turn to testing agency, steering power mechanism and the outer ring of suspension basket and revolving support are connected in turn
Together, the output end of steering power mechanism and the inner ring of revolving support and suspension are connected in turn, and turn to testing agency
It is connected on suspension basket and with steering power mechanism by gear drive；Module is controlled to include straight trip velocity close-loop control list
Member, steering position Closed Loop Control Unit and brake control unit；Driving-chain of keeping straight on passes through control with straight trip velocity close-loop control unit
Bus connection processed；Steering power mechanism and steering testing agency are connected with steering position Closed Loop Control Unit by controlling bus；
Brake module is connected with brake control unit.
2. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, its feature
It is：The steering power mechanism, including servomotor and decelerator are turned to, decelerator is connected on decelerator mounting flange, subtracted
The outer ring of fast device mounting flange, suspension basket and revolving support is connected in turn, and the input of decelerator is with turning to servo electricity
Machine is connected, and the output end of decelerator is provided with survey corner one-stage gear, surveys corner one-stage gear, the inner ring and suspension of revolving support
It is connected in turn, turns to servomotor and be connected by controlling bus with steering position Closed Loop Control Unit.
3. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, its feature
It is：The steering testing agency, including survey corner absolute value encoder, survey corner double-reduction gear and gear support frame, survey
Corner absolute value encoder is arranged on gear support frame, is surveyed corner secondary gear and is arranged in gear support frame and dynamic with turning to
Survey corner one-stage gear engagement in force mechanisms, surveys corner secondary gear and is connected with surveying corner absolute value encoder, gear support
Frame is arranged on suspension basket, is surveyed corner absolute value encoder and is connected by controlling bus with steering position Closed Loop Control Unit.
4. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, its feature
It is：The brake module, including Linear-electric-cylinder, hydraulic oil pump, disk brake and disk brake caliper；Linear-electric-cylinder is installed on suspension
On, hydraulic oil pump is connected with Linear-electric-cylinder, and hydraulic oil pump is connected by oil hose with disk brake caliper, and disk brake is arranged on straight
On wheel axis in row driving-chain, disk brake caliper is arranged in the support plate in straight trip driving-chain, and Linear-electric-cylinder passes through control
Bus processed is connected with brake control unit.
5. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, its feature
It is：The straight trip driving-chain, including tire, wheel hub motor, wheel axis, support plate and straight trip are tested the speed absolute value encoder, wheel
Hub motor is arranged on the wheel rim in tire, and wheel axis one end is connected with wheel hub motor, one end and the straight line in damping module
Guide rails fixing support is connected, and is provided with disk brake on wheel axis and straight trip is tested the speed one-stage gear, support plate is fixed in damping module
In line slideway fixed mount on, straight trip tests the speed absolute value encoder in the support plate, and straight trip is tested the speed absolute value encoder
On be provided with and tested the speed secondary gear with the straight trip straight trip that one-stage gear engages of testing the speed, wheel hub motor and straight trip are tested the speed absolute encoder
Device is connected by controlling bus with straight trip velocity close-loop control unit.
6. walking and the steering servo drive wheel of integration hydraulic brake according to claim 5 and suspension, its feature
It is：It is described straight trip test the speed one-stage gear with straight trip test the speed secondary gear gearratio be 11:4.
7. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, its feature
It is：The damping module, including elastic damping cylinder, linear bearing, line slideway and line slideway fixed mount, elastic damping gas
Cylinder one end is connected on suspension, and the other end is connected by bearing pin with line slideway fixed mount, and line slideway is fixed on line slideway
On fixed mount, linear bearing coordinates with line slideway to be mounted and fixed on suspension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621269912.XU CN206344650U (en) | 2016-11-25 | 2016-11-25 | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621269912.XU CN206344650U (en) | 2016-11-25 | 2016-11-25 | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206344650U true CN206344650U (en) | 2017-07-21 |
Family
ID=59319041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621269912.XU Expired - Fee Related CN206344650U (en) | 2016-11-25 | 2016-11-25 | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206344650U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN107448513A (en) * | 2017-08-18 | 2017-12-08 | 江苏大学 | The electromagnetic braking of wheel hub motor ring type and separate type damping integrated apparatus |
| CN107618401A (en) * | 2017-08-29 | 2018-01-23 | 清华大学 | Modularization single wheel independence drive module for electric vehicle |
| CN107856734A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of adjustable high-clearance hydraulic platform of podium level |
| CN109177648A (en) * | 2018-11-05 | 2019-01-11 | 福勤智能科技（昆山）有限公司 | A kind of Mecanum wheel platform |
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
| CN116142970A (en) * | 2022-12-03 | 2023-05-23 | 中国长江电力股份有限公司 | Turning operation equipment and method for large hydraulic cylinder of hydropower station |
| CN116142970B (en) * | 2022-12-03 | 2024-04-16 | 中国长江电力股份有限公司 | Turning operation equipment and method for large hydraulic cylinder of hydropower station |
-
2016
- 2016-11-25 CN CN201621269912.XU patent/CN206344650U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN107448513A (en) * | 2017-08-18 | 2017-12-08 | 江苏大学 | The electromagnetic braking of wheel hub motor ring type and separate type damping integrated apparatus |
| CN107448513B (en) * | 2017-08-18 | 2018-11-09 | 江苏大学 | The electromagnetic braking of wheel hub motor ring type and separate type damping integrated apparatus |
| CN107618401A (en) * | 2017-08-29 | 2018-01-23 | 清华大学 | Modularization single wheel independence drive module for electric vehicle |
| CN107856734A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of adjustable high-clearance hydraulic platform of podium level |
| CN109177648A (en) * | 2018-11-05 | 2019-01-11 | 福勤智能科技（昆山）有限公司 | A kind of Mecanum wheel platform |
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN110509738B (en) * | 2019-08-15 | 2022-07-08 | 燕山大学 | Six-freedom-degree series branched chain leg based on ground sealing |
| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
| CN116142970A (en) * | 2022-12-03 | 2023-05-23 | 中国长江电力股份有限公司 | Turning operation equipment and method for large hydraulic cylinder of hydropower station |
| CN116142970B (en) * | 2022-12-03 | 2024-04-16 | 中国长江电力股份有限公司 | Turning operation equipment and method for large hydraulic cylinder of hydropower station |
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