CN209290558U - Steering system and vehicle - Google Patents
Steering system and vehicle Download PDFInfo
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- CN209290558U CN209290558U CN201822237672.0U CN201822237672U CN209290558U CN 209290558 U CN209290558 U CN 209290558U CN 201822237672 U CN201822237672 U CN 201822237672U CN 209290558 U CN209290558 U CN 209290558U
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Abstract
The utility model relates to a kind of steering system and vehicles, and wherein steering system includes: multiple wheel groups, and wherein at least one wheel group includes two wheels (2)；Suspended rack assembly (4), quantity is identical as the quantity of the wheel group, and is correspondingly connected with the wheel group；With device for revolving and driving (3), its quantity is identical as the quantity of the suspended rack assembly (4), and it is correspondingly connected with the suspended rack assembly (4), it is respectively used to the suspended rack assembly (4) rotation that driving is correspondingly connected with, and then the corresponding wheel group is driven to realize independent steering.Vehicle includes above-mentioned steering system.The each wheel group of the utility model can be realized independent steering, and vehicle is made to have higher steering flexibility；Structure is simpler, occupies small in size；Moreover, the steering angle of device for revolving and driving is larger, turning radius is effectively reduced, mitigates tire wear；Enabling capabilities are more preferable, and intact stability is good.
Description
Technical field
The utility model relates to vehicle mechanical technical field more particularly to a kind of steering system and vehicles.
Background technique
The unmanned intelligence guiding transloading equipment of harbour container is used in the transporting equipment of automation or semi-automatic harbour,
Have many characteristics, such as unmanned, self-navigation, accurate positionin, path optimization and Safe Avoidance of collision, and can be led along defined
It leads the way the haulage vehicle of diameter automatic running.With the application of new control algolithm and the development of electronic technology, unmanned intelligence guiding turns
Equipment is transported just towards high-precision, intelligence, high efficiency, web development, thus requires transloading equipment that must realize efficient, high-precision
The steering of degree.
Steering system is the main device for controlling transloading equipment travel route and direction, and performance directly affects the fortune of equipment
Capable flexibility, stability and vehicle economy, tyre life etc..Currently, the unmanned intelligence guiding transhipment of harbour container is set
Standby steering system is mostly that traditional rod-pulling type turns to, i.e. mechanical steering, and that there is turning radius is excessive, turns to not flexible, wheel
The problems such as tire serious wear.
The unmanned intelligence guiding transloading equipment steering system of harbour container is mainly that automotive axle rod-pulling type turns to.Vehicle bridge is drawn
Rod-type, which turns to, mainly forms four-bar mechanism as power, vehicle bridge and pull rod, oil cylinder using hydraulic steering cylinder.The steering system knot
Structure is simple, facilitates manufacture, but because this body structure limits, steering angle is limited in scope, causes steering pattern limited, limit car body
Steering flexibility, when steering, are larger to space site requirements.Because the steering system includes hydraulic cylinder, revolving support etc., installation
Shi Zhanyong vehicle body space is larger, is unfavorable for the simplification of vehicle volume and weight, and the electrohydraulic control system of steering mechanism is also more complex.
In addition, tire wear is more serious there are sliding condition when because turning to.
As it can be seen that existing steering system occupies, equipment volume is big, weight is big, but steering angle is smaller (being no more than 40 °), turns to
Mode is few, and minimum turning radius is larger, and larger space is needed to turn to, and tire wear is more serious etc..
It should be noted that the information for being disclosed in the utility model background technology part is merely intended to increase to originally practical new
The understanding of the general background of type, and be not construed as recognizing or implying in any form that information composition has been art technology
The prior art well known to personnel.
Utility model content
The purpose of this utility model is to propose a kind of steering system and vehicle, and to simplify the structure of steering system, reduction is accounted for
With volume, make to turn to more flexible.
To achieve the above object, the utility model provides a kind of steering system, comprising:
Multiple wheel groups, wherein at least one wheel group include two wheels；
Suspended rack assembly, quantity is identical as the quantity of wheel group, and is correspondingly connected with wheel group；With
Device for revolving and driving, quantity is identical as the quantity of suspended rack assembly, and is correspondingly connected with suspended rack assembly, is respectively used to
The suspended rack assembly rotation being correspondingly connected with is driven, and then corresponding wheel group is driven to realize independent steering.
Optionally, the steering of two wheels in the same wheel group is synchronous.
Optionally, steering system further includes vehicle bridge, and the quantity of vehicle bridge and the quantity of wheel group are identical, and vehicle bridge is connected to same
Between two wheels in a wheel group, suspended rack assembly is connect with vehicle bridge, by driving axle windup to realize two wheels
Synchronous turn to.
Optionally, vehicle bridge is equipped with attachment base, and suspended rack assembly is connect with attachment base, and the close of vehicle bridge is arranged in attachment base
The side on road surface.
Optionally, suspended rack assembly includes support shaft, and attachment base is equipped with connecting hole, and support shaft passes through connecting hole and attachment base
Connection.
Optionally, the axis and horizontal direction parallel of connecting hole, and support shaft is horizontally disposed.
Optionally, suspended rack assembly includes the connection frame of oil cylinder and alterable height, and oil cylinder is mounted on connection frame, the cylinder of oil cylinder
The height of connection frame becomes larger when bar stretches out, and the height of connection frame becomes smaller when the cylinder rod of oil cylinder retracts.
Optionally, connection frame includes the first frame body and the second frame body, and the first frame body is connect with device for revolving and driving, the second frame
Body is connect with wheel group, and the first frame body and the second frame body are rotatably coupled.
Optionally, connection frame is integrally in C font.
Optionally, device for revolving and driving is for driving suspended rack assembly to realize 360 ° of rotations.
Optionally, the quantity of wheel group is at least four.
To achieve the above object, the utility model additionally provides a kind of vehicle, including vehicle frame and above-mentioned steering system, turns
Device for revolving and driving into system is mounted on vehicle frame.
Optionally, vehicle is Unpiloted carrier vehicle.
Based on the above-mentioned technical proposal, the utility model configures one by the way that multiple wheel groups are arranged, and for each wheel group
Suspended rack assembly and a set of device for revolving and driving are covered, so that each wheel group can be realized independent steering, is made using the steering system
Vehicle have higher steering flexibility, be conducive to improve turn to efficiency；Cooperated using device for revolving and driving and suspended rack assembly
Wheel group is driven to turn to, structure is simpler, occupies small in size, is advantageously implemented light-weight design；Moreover, revolution driving fills
The steering angle set is larger, effectively reduces turning radius, mitigates tire wear, extends Life of Tyre；At least one wheel
Group includes two wheels, and the enabling capabilities to vehicle frame can be improved, and keeps vehicle operation more steady.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the utility model steering system one embodiment.
Fig. 2 is the structural schematic diagram of another angle of the utility model steering system one embodiment.
Fig. 3 is the connection schematic diagram of suspended rack assembly and vehicle bridge in the utility model steering system one embodiment.
Fig. 4 is the connection schematic diagram of vehicle bridge and wheel in the utility model steering system one embodiment.
Fig. 5 is the structural schematic diagram of suspended rack assembly in the utility model steering system one embodiment.
Fig. 6 is the partial structure diagram of the utility model vehicle one embodiment.
Fig. 7 is the steering pattern schematic diagram of the utility model vehicle one embodiment.
In figure:
1, vehicle frame；2, wheel；3, device for revolving and driving；31, rotary disk；32, servo motor；4, suspended rack assembly；41, oily
Cylinder；42, the first frame body；43, the second frame body；44, support shaft；5, vehicle bridge；51, connecting hole.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, the technical solution in embodiment is carried out it is clear, complete
Ground description.Obviously, described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to scope of protection of the utility model.
As depicted in figs. 1 and 2, in one embodiment of steering system provided by the utility model, the steering system packet
Include multiple wheel groups, suspended rack assembly 4 and device for revolving and driving 3, wherein at least one wheel group includes two wheels 2, suspension group
The quantity of part 4 and the quantity of wheel group are identical, and suspended rack assembly 4 is correspondingly connected with wheel group, the quantity of device for revolving and driving 3 with
The quantity of suspended rack assembly 4 is identical, and device for revolving and driving 3 is correspondingly connected with suspended rack assembly 4, and device for revolving and driving 3 is for driving
The suspended rack assembly 4 being correspondingly connected with rotates, and then corresponding wheel group is driven to realize independent steering.
In the above-described embodiments, by the way that multiple wheel groups are arranged, and a set of 4 He of suspended rack assembly is configured for each wheel group
A set of device for revolving and driving 3 makes to have more using the vehicle of the steering system so that each wheel group can be realized independent steering
High steering flexibility is conducive to improve steering efficiency；For rod-pulling type mechanical steering device in compared with the prior art, adopt
Wheel group is driven to turn to device for revolving and driving 3 and the cooperation of suspended rack assembly 4, structure is simpler, occupies small in size, whole weight
It measures small, is advantageously implemented light-weight design；Moreover, the steering angle of device for revolving and driving 3 is larger, turning radius is effectively reduced,
Mitigate tire wear, extends Life of Tyre.
Optionally, the quantity of wheel group is at least four, such as four or six.When the quantity of wheel group is even number, this
A little wheel groups are symmetrically disposed in the two sides of vehicle frame 1.
As shown in Fig. 2, wheel group includes two wheels 2.As shown in fig. 6, the quantity of wheel group is four, each wheel group
Including two wheels 2, it is equipped with eight wheels 2 in total on the vehicle.
Each wheel group includes two wheels 2, and the enabling capabilities to vehicle frame 1 can be improved, and keeps vehicle operation more steady.
Further, the steering of two wheels 2 in the same wheel group is synchronous.The benefit being arranged in this way is can to make
Vehicular turn is more easier to control.
Steering system further includes vehicle bridge 5, and the quantity of vehicle bridge 5 and the quantity of wheel group are identical, and vehicle bridge 5 is mutually only between any two
It is vertical, without any mechanical connection.Vehicle bridge 5 is connected between two wheels 2 in the same wheel group, suspended rack assembly 4 and vehicle bridge 5
Connection, to realize that the synchronous of two wheels 2 turns to by the driving rotation of vehicle bridge 5.By the way that vehicle bridge 5 is arranged, it is real to can be convenient ground
The synchronous of existing two wheels 2 turns to.
As shown in Figure 3 and Figure 4, for convenient for connection, vehicle bridge 5 is equipped with attachment base, and suspended rack assembly 4 is connect with attachment base, and
The side on the close road surface of vehicle bridge 5 is arranged in attachment base.Setting can reserve enough in this way for the side on the separate road surface of vehicle bridge 5
Space, avoid attachment base other component from interfering.
Further, suspended rack assembly 4 includes support shaft 44, and attachment base is equipped with connecting hole 51, and support shaft 44 passes through connection
Hole 51 is connect with attachment base.By setting support shaft 44 and attachment base, the connection of suspended rack assembly 4 Yu vehicle bridge 5 may be implemented, and
Junction is not influenced by suspended rack assembly 4 and the other parts of vehicle bridge 5, and the structure of other parts can be made more flexible.
Optionally, the axis and horizontal direction parallel of connecting hole 51, and support shaft 44 is horizontally disposed.Setting can be real in this way
Now preferable supporting role, while being conducive to optimize stress condition, stress concentration and support shaft 44 are avoided the occurrence of by radial direction
The problem of shearing force, improves the reliability of connection.
As shown in figure 5, suspended rack assembly 4 includes the connection frame of oil cylinder 41 and alterable height, oil cylinder 41 is mounted on connection frame,
The height of connection frame becomes larger when the cylinder rod of oil cylinder 41 is stretched out, and the height of connection frame becomes smaller when the cylinder rod of oil cylinder 41 retracts, and in this way may be used
To play preferable buffering and damping effect, prevent vehicle frame 1 from generating biggish vibration.
Further, connection frame includes the first frame body 42 and the second frame body 43, and the first frame body 42 connects with device for revolving and driving 3
It connects, the second frame body 43 is connect with wheel group, and the first frame body 42 and the second frame body 43 are rotatably coupled.The structure of this connection frame
Simply, facilitate arrangement.
Specifically, the part of the first frame body 42 connected with device for revolving and driving 3 is substantially parallel with device for revolving and driving 3
Plate body structure, the first frame body 42 can be attached with device for revolving and driving 3 by bolt.
Connection frame is integrally in C font, can not only mitigate overall weight, but also can reduce installation space.
Optionally, device for revolving and driving 3 is for driving suspended rack assembly 4 to realize 360 ° of rotations, to increase the steering angle of wheel 2
Degree, keeps Vehicular turn more flexible.
As shown in Figures 2 and 3, device for revolving and driving 3 may include rotary disk 31 and actuator, and actuator can be used and be watched
Motor 32 or rotary motor etc. are taken, control precision is larger, and the accuracy of vehicle driving is effectively ensured.It is driven using rotary motor
It turns to, steering is more steady, is advantageously implemented speed uniformity and vulnerable to control.
The quantity of actuator can be one or more.When the quantity of actuator is one, it can be set in rotary disk 31
Side, to reduce the whole height of device for revolving and driving 3.When the quantity of actuator is two, it can be symmetrically arranged.
Device for revolving and driving 3 can also include transmission mechanism, and transmission mechanism is arranged between rotary disk 31 and actuator, use
In the power of actuator is transferred to rotary disk 31.Transmission mechanism can use Worm Wheel System system, can also use more
The transmission system of a gear engagement or gear and rack gear engagement.Device for revolving and driving 3 can be Dan Mada/motor-driven gear
External toothing formula, Dan Mada/motor driven duplicate gear internal messing formula or double motor/motor Double-gear internal messing formula etc..
Pass through the explanation of multiple embodiments to the utility model steering system, it can be seen that the utility model steering system
Example structure is simple, light-weight, high reliablity, turns to precision height；The independent steering that each wheel group may be implemented, increases
Steering angle increases the steering pattern of vehicle, solves that existing vehicle steering angle is too small, turning radius is big, because of place sky
Between it is compact, insufficient and the problem of influence Vehicular turn, improve steering flexibility, alleviate tire wear, extending tire makes
Use the service life；Vehicle transport efficiency is improved, it is more energy saving.
Based on above-mentioned steering system, the utility model additionally provides a kind of vehicle, which includes vehicle frame 1 and above-mentioned
Steering system, the device for revolving and driving 3 in steering system are mounted on vehicle frame 1.
Positive technical effect possessed by steering system is equally applicable to vehicle in above-mentioned each embodiment, no longer superfluous here
It states.
Optionally, vehicle is Unpiloted carrier vehicle, and Unpiloted carrier vehicle can be used in port traffic packaging
Case realizes Intelligent unattended port traffic.
By making each wheel group realize independent steering, it can make vehicle that there are a variety of steering patterns, to improve Transportation Efficiency
Rate.As shown in fig. 7, showing 9 kinds of steering patterns, in the figure, right side is the front of vehicle in figure, and left side is after vehicle
Side, upside are the left of vehicle, and downside is the right of vehicle, and the main driving direction of vehicle is from left to right.It below will be 9 kinds to this
Mode is described in detail.
As (a) mode in Fig. 7 be straight-going mode, the sagittal plane of four wheel groups with the main driving direction phase of vehicle
Mutually parallel, vehicle is travelled along main driving direction；
As (b) mode in Fig. 7 be row mode, the sagittal plane of four wheel groups with the main driving direction phase of vehicle
Mutually vertical, vehicle may be implemented the lateral of vehicle in narrow space at this time and move along the direction running perpendicular to main driving direction
It is dynamic；
If (d) mode in Fig. 7 is diagonal mode, the main traveling side of the sagittal planes of four wheel groups both with respect to vehicle
To inclination and tilt angle it is identical, vehicle is along relative to the inclined direction running of main driving direction.
Wherein, the main driving direction of vehicle refers to the common driving direction of vehicle in general, for example, vehicle
When front side is equipped with driver's cabin, the direction from the tailstock to headstock is the main driving direction of vehicle.What the sagittal plane of wheel group referred to
It is the plane where the section of wheel radially, the axis of the sagittal plane and wheel is mutually perpendicular to.
(c) mode is yaw mode in Fig. 7, positioned at 1 rear of vehicle frame two wheel groups sagittal plane and vehicle
Main driving direction be parallel to each other, positioned at the front of vehicle frame 1 two wheel groups sagittal plane both with respect to vehicle main traveling
Direction inclination and tilt angle difference, two wheel groups positioned at 1 front of vehicle frame move in the same direction, and the yaw fortune of vehicle may be implemented
It is dynamic；
(f) mode is to wag the tail mode in Fig. 7, positioned at 1 front of vehicle frame two wheel groups sagittal plane and vehicle
Main driving direction be parallel to each other, positioned at 1 rear of vehicle frame two wheel groups sagittal plane both with respect to vehicle main traveling
Direction tilts and tilt angle is different, and two wheel groups positioned at 1 rear of vehicle frame move in the same direction, and the fortune of wagging the tail of vehicle may be implemented
It is dynamic.
(h) mode is preceding cornering mode in Fig. 7, positioned at 1 rear of vehicle frame two wheel groups sagittal plane and vehicle
Main driving direction be parallel to each other, positioned at the front of vehicle frame 1 two wheel groups sagittal plane both with respect to vehicle main row
It sails direction inclination and tilt angle is identical, two wheel groups positioned at 1 front of vehicle frame move in the same direction, and vehicle head may be implemented
Turning motion, the mode are big rotary motion；
(i) mode is rear cornering mode in Fig. 7, positioned at the front of vehicle frame 1 two wheel groups sagittal plane and vehicle
Main driving direction be parallel to each other, positioned at 1 rear of vehicle frame two wheel groups sagittal plane both with respect to vehicle main row
It sails direction inclination and tilt angle is identical, two wheel groups positioned at 1 rear of vehicle frame move in the same direction, and vehicle tail may be implemented
Turning motion, the mode are big rotary motion.
(g) mode is small switchback mode, the main traveling side of the sagittal planes of four wheel groups both with respect to vehicle in Fig. 7
It is tangent to inclination and its inclined direction and homocentric circle, wherein two wheels 2 and the same radius positioned at 1 left side of vehicle frame
Biggish circle is tangent, and two wheels 2 and the lesser circle of the same radius positioned at 1 right side of vehicle frame are tangent, and the radius is larger
Circle and the lesser circular center of circle of radius be it is same, and the center of circle is located at the right side of vehicle frame 1, and four wheel groups are transported in the same direction
It is dynamic, the small rotary motion of vehicle may be implemented in this way.
(e) mode is the main driving direction of the sagittal planes of four wheel groups both with respect to vehicle from rotary-die type in Fig. 7
Inclination and its inclined direction and the same circle are tangent, which, in this way can be in the center of four wheel groups
Realize the spinning motion of vehicle.
Finally it should be noted that: above embodiments are only to illustrate the technical solution of the utility model rather than limit it
System；Although the utility model has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should
Understand: specific implementation of the utility model can still be modified or is equally replaced to some technical characteristics
It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model
In range.
Claims (13)
1. a kind of steering system characterized by comprising
Multiple wheel groups, wheel group described in wherein at least one include two wheels (2)；
Suspended rack assembly (4), quantity is identical as the quantity of the wheel group, and is correspondingly connected with the wheel group；With
Device for revolving and driving (3), quantity is identical as the quantity of the suspended rack assembly (4), and corresponding with the suspended rack assembly (4)
Connection is respectively used to the suspended rack assembly (4) rotation that driving is correspondingly connected with, and then it is only to drive the corresponding wheel group to realize
It is vertical to turn to.
2. steering system according to claim 1, which is characterized in that two wheels in the same wheel group
(2) steering is synchronous.
3. steering system according to claim 2, which is characterized in that it further include vehicle bridge (5), the quantity of the vehicle bridge (5)
It is identical as the quantity of the wheel group, two wheels (2) that the vehicle bridge (5) is connected in the same wheel group it
Between, the suspended rack assembly (4) connect with the vehicle bridge (5), by driving vehicle bridge (5) rotation to realize two vehicles
The synchronous of (2) is taken turns to turn to.
4. steering system according to claim 3, which is characterized in that the vehicle bridge (5) is equipped with attachment base, the suspension
Component (4) is connect with the attachment base, and attachment base setting is in the side on the close road surface of the vehicle bridge (5).
5. steering system according to claim 4, which is characterized in that the suspended rack assembly (4) includes support shaft (44), institute
Attachment base is stated equipped with connecting hole (51), the support shaft (44) is connect by the connecting hole (51) with the attachment base.
6. steering system according to claim 5, which is characterized in that the axis and horizontal direction of the connecting hole (51) are flat
Row, and the support shaft (44) is horizontally disposed.
7. steering system according to claim 1, which is characterized in that the suspended rack assembly (4) includes oil cylinder (41) and height
The variable connection frame of degree, the oil cylinder (41) are mounted on the connection frame, the cylinder rod of the oil cylinder (41) company when stretching out
The height for connecing frame becomes larger, the cylinder rod of the oil cylinder (41) when retracting the height of the connection frame become smaller.
8. steering system according to claim 7, which is characterized in that the connection frame includes the first frame body (42) and second
Frame body (43), first frame body (42) connect with the device for revolving and driving (3), second frame body (43) and the wheel
Group connection, first frame body (42) and second frame body (43) are rotatably coupled.
9. steering system according to claim 7, which is characterized in that the connection frame is integrally in C font.
10. steering system according to claim 1, which is characterized in that the device for revolving and driving (3) is described for driving
Suspended rack assembly (4) realizes 360 ° of rotations.
11. steering system according to claim 1, which is characterized in that the quantity of the wheel group is at least four.
12. a kind of vehicle, which is characterized in that including vehicle frame (1) and steering system as claimed in any one of claims 1 to 11,
The device for revolving and driving (3) in the steering system is mounted on the vehicle frame (1).
13. vehicle according to claim 12, which is characterized in that the vehicle is Unpiloted carrier vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822237672.0U CN209290558U (en) | 2018-12-29 | 2018-12-29 | Steering system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822237672.0U CN209290558U (en) | 2018-12-29 | 2018-12-29 | Steering system and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN209290558U true CN209290558U (en) | 2019-08-23 |
Family
ID=67649646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822237672.0U Active CN209290558U (en) | 2018-12-29 | 2018-12-29 | Steering system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209290558U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111377008A (en) * | 2018-12-29 | 2020-07-07 | 徐州徐工铁路装备有限公司 | Steering system, vehicle and vehicle steering method |
| CN111923720A (en) * | 2019-10-24 | 2020-11-13 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
-
2018
- 2018-12-29 CN CN201822237672.0U patent/CN209290558U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111377008A (en) * | 2018-12-29 | 2020-07-07 | 徐州徐工铁路装备有限公司 | Steering system, vehicle and vehicle steering method |
| CN111923720A (en) * | 2019-10-24 | 2020-11-13 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
| CN111923720B (en) * | 2019-10-24 | 2021-10-29 | 中国北方车辆研究所 | Four-bar linkage type hub motor trailing arm suspension |
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Effective date of registration: 20210415 Address after: No. 68, Gaoxin Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province, 221000 Patentee after: Xuzhou Xugong Port Machinery Co.,Ltd. Address before: 221004 Industrial Zone, Xuzhou Economic Development Zone, Jiangsu, Xuzhou Patentee before: XCMG RAILWAY EQUIPMENT Co.,Ltd. |