CN210258546U - Four-wheel steering automobile transverse warehousing system - Google Patents
Four-wheel steering automobile transverse warehousing system Download PDFInfo
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- CN210258546U CN210258546U CN201920673278.3U CN201920673278U CN210258546U CN 210258546 U CN210258546 U CN 210258546U CN 201920673278 U CN201920673278 U CN 201920673278U CN 210258546 U CN210258546 U CN 210258546U
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Abstract
The utility model relates to a steering system technology of an automobile, in particular to a four-wheel steering automobile transverse warehousing system, which comprises a steering transverse moving mechanism, a hydraulic power mechanism, a vision auxiliary mechanism, a man-machine interaction module and an execution module, wherein the steering transverse moving mechanism is connected with automobile wheels, and can realize the steering transverse moving operation of manual driving and automatic transverse warehousing, the hydraulic power mechanism is respectively connected with a control unit and the steering transverse moving mechanism and is used for providing high-pressure oil for the steering transverse moving mechanism, the vision auxiliary mechanism is arranged in an automobile body and is used for detecting the surrounding environment of the automobile body, the man-machine interaction module is connected with the control unit and is used for switching signals of the manual driving and the automatic transverse warehousing, the execution module is respectively connected with the control unit, the steering transverse moving mechanism and the hydraulic power mechanism and is used for braking the automobile, and has the functions of manual driving and, the problem of narrow and small space parking difficulty, turn to difficultly is solved, the flexibility of automobile motion is fully improved, the high-efficient parking stall resource of utilizing.
Description
Technical Field
The utility model relates to a steering system technique of car specifically is a four-wheel steering car system of transversely putting in storage.
Background
With the improvement of living standard of people, more and more people select private cars for going out, but the problem of parking becomes a big problem in large and medium cities. The problems of difficult steering and difficult parking of the automobile in a narrow space exist all the time. In view of this, how to solve the problem of entering the garage horizontally in a narrow space while ensuring the normal driving of the automobile is an urgent problem to be solved.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a solve narrow and small space car among the prior art and turn to difficult, the difficult problem of parking, and provide a four-wheel steering car system of transversely warehousing, possess can the manual driving, can transversely park the function of warehousing again automatically, solve narrow and small space parking difficult, turn to difficult problem, fully improve the flexibility of automobile motion, high-efficient utilization parking stall resource.
The utility model provides a technical scheme that its technical problem adopted is:
a four-wheel steering automobile transverse warehousing system is used for realizing functions of manual driving and automatic transverse warehousing, and comprises a control unit, wherein the system comprises:
the steering transverse moving mechanism is connected with the automobile wheels and can realize steering transverse moving operation of manual driving and automatic transverse warehousing;
the hydraulic power mechanism is respectively connected with the control unit and the steering traversing mechanism and is used for providing high-pressure oil for the steering traversing mechanism;
the vision auxiliary mechanism is arranged in the vehicle body and used for detecting the surrounding environment of the vehicle body;
the man-machine interaction module is connected with the control unit and used for switching signals of manual driving and automatic transverse warehousing;
and the execution module is respectively connected with the control unit, the steering and transverse moving mechanism and the hydraulic power mechanism and is used for braking the automobile.
Preferably, the steering and traversing mechanism comprises a steering rack and a hydraulic cylinder which are welded into a whole through a bottom plate, two pistons which are arranged in the hydraulic cylinder and are parallel to each other, a positioning flange used for fixing the pistons, a piston rod connected with the pistons, and a positioning pin arranged on the piston rod, wherein the steering rack is meshed with the steering gear, the positioning flange is arranged on the inner wall of the hydraulic cylinder, and the hydraulic cylinder is divided into a first hydraulic chamber, a second hydraulic chamber and a third hydraulic chamber by the pistons.
More preferably, the third hydraulic chamber is arranged between the first hydraulic chamber and the second hydraulic chamber, each hydraulic chamber is connected with different hydraulic pipelines, the first hydraulic chamber and the second hydraulic chamber are synchronously fed with oil through the hydraulic pipelines when the automobile transversely enters the garage, and the third hydraulic chamber is fed with oil through the hydraulic pipelines when the automobile normally runs.
Preferably, the vision assisting mechanism includes a panoramic image radar and a sensor module, the panoramic image radar is disposed on a rearview mirror of the automobile, and the sensor module includes:
the brake sensor is connected with a brake pedal of the automobile;
the stop sensor is arranged on the steering and transverse moving mechanism;
the corner sensor is connected with a steering column of the automobile;
the vehicle speed sensor is connected with the vehicle speedometer;
the control unit identifies signals collected by the sensor module, makes path planning and navigation, and transmits normal parking signals to the execution module, and the execution module triggers the steering and transverse moving mechanism and the hydraulic power mechanism to work.
Preferably, the hydraulic power mechanism comprises an oil storage tank, a hydraulic pump, a pressure accumulator and an electromagnetic valve which are sequentially connected, a filter is arranged between the oil storage tank and the hydraulic pump, the hydraulic pump is connected with the steering motor, a pressure sensor is arranged between the hydraulic pump and the pressure accumulator, and the pressure sensor is connected with the safety valve.
The filter mainly plays a role in filtering oil; the hydraulic pump changes hydraulic oil into high-pressure oil; the pressure accumulator stores the pressurized hydraulic oil and provides thrust for a steering system when needed; the electromagnetic valve mainly controls the flow direction of hydraulic oil in two working positions of normal running and transverse rotation of the automobile; the safety valve plays a role in safety protection of the hydraulic oil circuit, when the pressure of oil in the oil circuit is too large to exceed the rated pressure of the system, the pressure sensor sends a signal to enable pressure oil to flow back to the oil storage tank through the electromagnetic valve, the pressure is released, and the effects of pressure limiting and protection are achieved. After the hydraulic power device receives the instruction of the control unit, the steering motor drives the hydraulic pump to extract hydraulic oil from the oil storage tank, the hydraulic oil enters the hydraulic pump after being filtered by the filter, the hydraulic pump pressurizes and then flows to the pressure accumulator for storage, high-pressure oil is sent to the electromagnetic valve when steering is needed, and the electromagnetic valve outputs the high-pressure oil through the oil conveying pipe.
Preferably, the visual auxiliary mechanism further comprises an alarm module, the alarm module is electrically connected with the control unit, and the control unit transmits the signal of non-stop to the alarm module according to the signal collected by the sensor module.
Preferably, the control unit is connected with two power-assisted motors which are respectively positioned in the front and the rear of the automobile, the two power-assisted motors are respectively connected with the two steering transverse moving mechanisms through steering gears, a piston of each steering transverse moving mechanism is connected with a steering pull rod, the steering pull rod is connected with a wheel after being hinged with a steering knuckle, and a hub motor is arranged on the wheel.
Preferably, the steering gear is engaged with the steering rack.
Preferably, the hydraulic cylinder is internally provided with 4 positioning flanges, and two end parts of each piston are respectively provided with one positioning flange.
The panoramic image radar is arranged on an automobile rearview mirror to sense information around an automobile body, the sensor module is used for collecting signals, the control unit is used for identifying the collected signals, path planning and navigation are conducted, normal parking signals are transmitted to the execution module, the execution module triggers the hydraulic power mechanism and the steering and traversing mechanism to work, and otherwise, the control unit is used for transmitting the interruption or prohibition parking signals to the alarm module. The sensor module comprises a brake sensor, a stop sensor, a corner sensor and a vehicle speed sensor, the brake sensor is connected with a brake pedal, the control unit detects a signal of the brake sensor, and the wheels stop steering; the wheel rotates ninety degrees, the stop sensor sends a signal to the control unit, and the control unit simultaneously controls the hydraulic power device to stop power transmission; the rotation angle sensor and the vehicle speed sensor continuously report data to the control unit, and the control unit processes the data and transmits signals to the front wheel and rear wheel power-assisted motors.
Each hydraulic chamber is connected with a hydraulic power device through a hydraulic pipeline, high-pressure oil is conveyed to the hydraulic chambers through the hydraulic pipelines by the hydraulic power devices, oil is synchronously fed into the first hydraulic chamber and the second hydraulic chamber through an oil conveying pipe when the automobile is automatically and transversely put in storage, and oil is fed into the third hydraulic chamber through the hydraulic pipeline when the automobile normally runs.
When the automobile normally runs, the first hydraulic chamber and the second hydraulic chamber do not work, the hydraulic pipeline conveys high-pressure oil to the third hydraulic chamber, the third hydraulic chamber achieves a pressure maintaining state, and simultaneously the third hydraulic chamber and the positioning flange jointly act to fix the piston, so that in order to avoid insufficient oil pressure, the positioning pin extends out, the piston and the hydraulic cylinder move together to assist in positioning the piston, and the steering transverse moving mechanism moves left and right through the meshing of the steering gear and the steering rack; in the process of transverse rotation of the automobile during parking, the third hydraulic chamber does not work, the oil conveying pipe conveys high-pressure oil into the first hydraulic chamber and the second hydraulic chamber respectively, the high-pressure oil pushes the two pistons to approach each other, the positioning pin is contracted at the moment, when the automobile wheel rotates ninety degrees, the stop sensor feeds back a signal to the control unit, the control unit controls the hydraulic power device to stop oil supply, and the wheel keeps a ninety-degree steering state.
The utility model has the advantages that:
the utility model provides a pair of four-wheel steering car transversely puts system in storage detects vehicle whole body environmental information and garage position through vision auxiliary mechanism, and hydraulic power unit provides steering power, and the wheel is transmitted to power to the steering sideslip mechanism, drives the wheel and rotates ninety degrees in suitable time, has improved the flexibility of novel four-wheel steering car motion, and to a great extent alleviates the difficult phenomenon of urban parking, high-efficient utilization parking stall resource.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a lateral warehousing system of a four-wheel steering automobile of the present invention;
fig. 2 is a schematic structural view of a steering and traversing mechanism of a four-wheel steering automobile transverse warehousing system of the present invention;
fig. 3 is a schematic structural view of a hydraulic power mechanism of the transverse warehousing system of the four-wheel steering automobile of the present invention;
fig. 4 is the utility model relates to a horizontal warehouse entry system's of four-wheel steering car working diagram.
In the figure: 1-a steering wheel; 2-a power-assisted motor; 3-a steering gear; 4-steering and traversing mechanism; 41-a steering rack; 42-hydraulic cylinder; 43-a piston; 44-a locating flange; 45-a piston rod; 46-a locating pin; 47-a bottom plate; 4 a-a first hydraulic chamber; 4 b-a second hydraulic chamber; 4 c-a third hydraulic chamber; 48-hydraulic lines; 5-a hydraulic power mechanism; 51-an oil storage tank; 52-a filter; 53-steering motor; 54-a hydraulic pump; 55-safety valve; 57-solenoid valve; 58-pressure accumulator; 59-a pressure sensor; 6-a visual aid mechanism; 6 a-a stop sensor; 7-a control unit; 8-a steering tie rod; 81-knuckle; 9-vehicle wheels; 91-hub motor.
Detailed Description
The technical solution of the present invention is further illustrated by the following embodiments and accompanying drawings.
Fig. 1 and fig. 3 show a transverse garage entering system of a four-wheel steering automobile according to the present invention, which comprises an automobile steering wheel 1, a steering column connected with the steering wheel 1, automobile wheels 9, a control unit 7, and two power motors 2 connected with the control unit 7, wherein the two power motors 2 are respectively connected with two steering and transverse moving mechanisms 4 through a steering gear 3, the piston 43 of the steering and transverse moving mechanism 4 is connected with a steering pull rod 8, the steering pull rod 8 is hinged with a steering knuckle 81 and then connected with a wheel 9, the system also comprises a hydraulic power mechanism 5 and a vision auxiliary mechanism 6 which are respectively electrically connected with the control unit 7, the hydraulic cylinder 42 of the steering and transverse moving mechanism 4 comprises a first hydraulic chamber, a second hydraulic chamber and a third hydraulic chamber, each hydraulic chamber is connected with the hydraulic power mechanism 5 through an oil pipeline, the steering and transverse moving mechanism 4 can realize steering and transverse moving operation of manual driving and automatic warehousing;
the vision auxiliary mechanism 6 comprises a panoramic image radar, a sensor module, a man-machine interaction module and an execution module, the panoramic image radar is arranged on a rearview mirror of an automobile, the man-machine interaction module provides switching signals of manual driving and automatic warehousing, the control unit 7 identifies signals collected by the sensor module, makes path planning and navigation, and transmits normal parking signals to the execution module, and the execution module triggers the steering and transverse moving mechanism 4 and the hydraulic power mechanism 5 to work.
The movable piston 43 of the steering and traversing mechanism shown in fig. 2 divides the hydraulic cylinder 42 into three small hydraulic chambers. When the automobile normally runs, the first hydraulic chamber and the second hydraulic chamber do not work, the hydraulic pipeline 48 conveys high-pressure oil to the third hydraulic chamber 4c, the third hydraulic chamber 4c achieves a pressure maintaining state, and simultaneously, the piston 43 is fixed under the combined action of the positioning flange 44, so that in order to avoid insufficient oil pressure, the positioning pin 46 extends out, the piston 43 is positioned in an auxiliary way, the piston 43 moves together with the hydraulic cylinder 42, and the steering transverse mechanism 4 moves left and right due to the meshing of the steering gear 3 and the steering rack 4; during the transverse rotation process of the automobile when the automobile is stopped, the third hydraulic chamber 4c does not work, the hydraulic pipeline 48 respectively conveys high-pressure oil into the first hydraulic chamber and the second hydraulic chamber, the high-pressure oil pushes the two pistons 43 to approach each other, the positioning pin 46 contracts at the moment, when the automobile wheel 9 rotates ninety degrees, the stop sensor 6a feeds back a signal to the control unit 7, the control unit 7 controls the hydraulic power mechanism 5 to stop supplying oil, and the wheel 9 keeps a ninety-degree steering state.
The hydraulic power mechanism 5 shown in fig. 3 is composed of an oil storage tank 51, a filter 52, a steering motor 53, a hydraulic pump 54, a safety valve 55, an accumulator 58, an electromagnetic valve 57 and a pressure sensor 59, wherein the oil storage tank 51, the hydraulic pump 54, the accumulator 58 and the electromagnetic valve 57 are sequentially connected, and the filter 52 is arranged between the oil storage tank 51 and the hydraulic pump 54 and mainly plays a role of filtering oil; the hydraulic pump 54 changes the hydraulic oil into high-pressure oil; the accumulator 58 stores the pressurized hydraulic oil to provide thrust for the steering system when necessary; the electromagnetic valve 57 mainly controls the flow direction of hydraulic oil in two working positions of normal running and transverse rotation of the automobile; the safety valve 55 plays a safety protection role for the hydraulic oil circuit, when the oil pressure in the oil circuit is too large to exceed the rated pressure of the system, the pressure sensor 59 sends a signal, so that the pressure oil flows back to the oil storage tank 51 through the electromagnetic valve 57, the pressure is released, and the pressure limiting and protecting effects are played.
After receiving the instruction of the control unit 7, the hydraulic power mechanism 5 drives the hydraulic pump 54 to pump hydraulic oil from the oil storage tank 51 by the steering motor 53, the hydraulic oil enters the hydraulic pump 54 after being filtered by the filter 52, the hydraulic pump 54 pressurizes and flows to the accumulator 58 for storage, when steering is required, high-pressure oil is sent to the electromagnetic valve 57, and the electromagnetic valve 57 outputs the high-pressure oil through a hydraulic pipeline.
Fig. 4 shows that the utility model discloses a working schematic diagram, man-machine interaction module are manual drive and automatic transverse switching signal between putting in storage, and the sensor module carries out signal acquisition, and the control unit 7 is synthesized according to the signal of gathering and is judged, and normal parking signal conveys execution module, perhaps will break off and alarm module is conveyed to the signal that can not park. The sensor module comprises a brake sensor, a stop sensor, a corner sensor and a vehicle speed sensor, the brake sensor is connected with a brake pedal, the control unit 7 detects a signal of the brake sensor, and the wheels 9 stop steering; after the wheel 9 rotates ninety degrees, the stop sensor 6a sends a signal to the control unit 7, and the control unit 7 controls the hydraulic power mechanism 5 to stop power transmission. The rotation angle sensor and the vehicle speed sensor continuously report data to the control unit 7, and the control unit 7 processes the data and transmits signals to the front and rear wheel power-assisted motors 2.
When the automobile normally runs, a driver rotates a steering wheel 1, a rotation angle sensor and a vehicle speed sensor send signals to a control unit 7, the control unit 7 starts a front and a back power-assisted motors 2, a steering gear 3 is meshed with a steering rack 41 through the front and the back power-assisted motors 2 to drive the steering rack 41 to rotate left and right, meanwhile, a pressure sensor 59 receives the signals and transmits the signals to the control unit 7, the control unit 7 controls a hydraulic power mechanism 5 to start, a hydraulic pipeline 48 transmits high-pressure oil to a third hydraulic chamber 4c to enable the third hydraulic chamber 4c to be in a pressure maintaining state, the high-pressure oil and a positioning flange 44 jointly act to fix a piston 43, in order to avoid insufficient oil pressure, a positioning pin 46 assists to position the piston 44, the whole steering and transverse moving mechanism 4 moves left and right under the driving of the steering rack 41, a steering pull rod 8 is connected with a piston rod 45, the steering rod 8 pulls a, the wheels are rotated by a certain angle and direction, and the deflection and the straight line running of the wheels 9 are realized.
When an automobile is automatically transversely warehoused, the steering wheel 1 is in a neutral position and does not move, the vision auxiliary mechanism 6 is switched to an automatic transverse warehousing mode through the man-machine interaction module, the panoramic image radar detects information around a parking space, the vehicle speed sensor reports a vehicle speed signal in real time, the control unit 7 performs path planning and navigation, the hydraulic power mechanism 5 is started at the same time, the steering motor 53 starts to work to drive the hydraulic pump 54 to output high-pressure oil from the oil storage tank 51 and flow to the first hydraulic chamber and the second hydraulic chamber through the hydraulic pipeline 48, the high-pressure oil pushes the two pistons 43 to approach each other, the positioning pin 46 contracts at the moment, the pistons 43 drive the steering pull rod 8 to move left and right through the piston rods 45, the steering pull rod 8 is connected with the steering knuckle 81, the steering knuckle 81 is connected with the wheel 9 to enable the wheel 9 to start to rotate until the piston 43 pulls the steering pull rod 8 to enable the, the control unit 7 closes the hydraulic power mechanism 5 after receiving the signal, so that the steering motor 53 stops working, the hydraulic pump 54 does not work, hydraulic oil is not conveyed any more, when a driver steps on a brake or the front of the driver encounters an obstacle in the steering process, the control unit 7 interrupts the power transmission of the hydraulic power mechanism 5 after detecting a sensor signal, so that the wheels 9 do not rotate any more, the radar continues to detect the situation around the vehicle body, the vehicle speed sensor reports a vehicle speed signal in real time, the control unit 7 plans and navigates a path, and the vehicle continues to stop until the transverse warehousing is successful. The in-wheel motor 91 is a power part for the forward movement of the wheels 9, the in-wheel motor 91 has a simpler technical scheme and structure, cannot obstruct and interfere the transverse warehousing system of the automobile, and can better play a role of the transverse warehousing system of the four-wheel steering automobile.
The above-described embodiments are merely preferred embodiments of the present invention, which are not intended to limit the present invention in any way, and other variations and modifications are possible without departing from the scope of the invention as set forth in the claims.
Claims (9)
1. A four-wheel steering automobile transverse warehousing system for realizing functions of manual driving and automatic transverse warehousing comprises a control unit (7), and is characterized by comprising:
the steering transverse moving mechanism (4) is connected with the automobile wheels (9) and can realize steering transverse moving operation of manual driving and automatic transverse warehousing;
the hydraulic power mechanism (5) is respectively connected with the control unit (7) and the steering and transverse moving mechanism (4) and is used for providing high-pressure oil for the steering and transverse moving mechanism (4);
the vision auxiliary mechanism (6) is arranged in the vehicle body and used for detecting the surrounding environment of the vehicle body;
the human-computer interaction module is connected with the control unit (7) and is used for switching signals of manual driving and automatic transverse warehousing;
and the execution module is respectively connected with the control unit (7), the steering and transverse moving mechanism (4) and the hydraulic power mechanism (5) and is used for braking the automobile.
2. A four-wheel-steering automobile transverse warehousing system according to claim 1 characterized in that the steering and transverse moving mechanism (4) comprises a steering rack (41) and a hydraulic cylinder (42) which are welded into a whole through a bottom plate (47), two pistons (43) which are arranged in the hydraulic cylinder (42) and are parallel to each other, a positioning flange (44) used for fixing the pistons (43), a piston rod (45) connected with the pistons (43), and a positioning pin (46) arranged on the piston rod (45), the steering rack (41) is meshed with the steering gear (3), the positioning flange (44) is arranged on the inner wall of the hydraulic cylinder (42), and the hydraulic cylinder (42) is divided into a first hydraulic chamber (4a), a second hydraulic chamber (4b) and a third hydraulic chamber (4c) by the pistons (43).
3. A four-wheel-steering automobile transverse warehousing system according to claim 2 characterized in that the third hydraulic chamber (4c) is arranged between the first and second hydraulic chambers, each hydraulic chamber is connected with a different hydraulic pipeline (48), the first and second hydraulic chambers are synchronously fed with oil through the hydraulic pipelines (48) when the automobile transversely warehouses, and the third hydraulic chamber (4c) is fed with oil through the hydraulic pipelines (48) when the automobile normally runs.
4. A four-wheel-steering automobile transverse warehousing system according to claim 3 characterized in that the vision auxiliary mechanism (6) comprises a panoramic image radar and a sensor module, the panoramic image radar is arranged on the rearview mirror of the automobile, the sensor module comprises:
the brake sensor is connected with a brake pedal of the automobile;
a stop sensor (6a) arranged on the steering and transverse moving mechanism (4);
the corner sensor is connected with a steering column of the automobile;
the vehicle speed sensor is connected with the vehicle speedometer;
the control unit (7) identifies signals collected by the sensor module, makes path planning and navigation, and transmits normal parking signals to the execution module, and the execution module triggers the steering and transverse moving mechanism (4) and the hydraulic power mechanism (5) to work.
5. A four-wheel steering automobile transverse warehousing system according to claim 4 characterized in that the hydraulic power mechanism (5) comprises a oil storage tank (51), a hydraulic pump (54), an accumulator (58) and an electromagnetic valve (57) which are connected in sequence, a filter (52) is arranged between the oil storage tank (51) and the hydraulic pump (54), the hydraulic pump (54) is connected with a steering motor (53), a pressure sensor (59) is arranged between the hydraulic pump (54) and the accumulator (58), and the pressure sensor (59) is connected with a safety valve (55).
6. A four-wheel-steering automobile transverse warehousing system as claimed in claim 5 characterized in that the vision auxiliary mechanism (6) further comprises an alarm module, the alarm module is electrically connected with the control unit (7), and the control unit (7) transmits a signal of non-stop to the alarm module according to the signal collected by the sensor module.
7. A four-wheel steering automobile transverse warehousing system according to claim 6 characterized in that the control unit (7) is connected with two power-assisted motors (2) respectively positioned in front and at the back of an automobile, the two power-assisted motors (2) are respectively connected with two steering traversing mechanisms (4) through steering gears (3), a piston (43) of each steering traversing mechanism (4) is connected with a steering pull rod (8), the steering pull rod (8) is hinged with a steering knuckle (81) and then connected with a wheel (9), and a hub motor (91) is arranged on the wheel (9).
8. A four-wheel-steering automobile transverse warehousing system according to claim 7 characterized in that the steering gear (3) is meshed with the steering rack (41).
9. A four-wheel-steering automobile transverse warehousing system as claimed in claim 2 characterized in that there are 4 locating flanges (44) in the hydraulic cylinder (42), and one locating flange (44) is provided at each end of each piston (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920673278.3U CN210258546U (en) | 2019-05-13 | 2019-05-13 | Four-wheel steering automobile transverse warehousing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920673278.3U CN210258546U (en) | 2019-05-13 | 2019-05-13 | Four-wheel steering automobile transverse warehousing system |
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| Publication Number | Publication Date |
|---|---|
| CN210258546U true CN210258546U (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920673278.3U Expired - Fee Related CN210258546U (en) | 2019-05-13 | 2019-05-13 | Four-wheel steering automobile transverse warehousing system |
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| Country | Link |
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| CN (1) | CN210258546U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194214A (en) * | 2019-05-13 | 2019-09-03 | 浙江科技学院 | A kind of four-wheel steering automobile transverse direction Input System |
-
2019
- 2019-05-13 CN CN201920673278.3U patent/CN210258546U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194214A (en) * | 2019-05-13 | 2019-09-03 | 浙江科技学院 | A kind of four-wheel steering automobile transverse direction Input System |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200407 Termination date: 20210513 |