WO2023108966A1 - 一种独立电子转向桥及四支点平衡重式叉车 - Google Patents

一种独立电子转向桥及四支点平衡重式叉车 Download PDF

Info

Publication number
WO2023108966A1
WO2023108966A1 PCT/CN2022/086824 CN2022086824W WO2023108966A1 WO 2023108966 A1 WO2023108966 A1 WO 2023108966A1 CN 2022086824 W CN2022086824 W CN 2022086824W WO 2023108966 A1 WO2023108966 A1 WO 2023108966A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
gear
forklift
independent electronic
motor
Prior art date
Application number
PCT/CN2022/086824
Other languages
English (en)
French (fr)
Inventor
方紫剑
韩龙
汪屯利
Original Assignee
合肥搬易通科技发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 合肥搬易通科技发展有限公司 filed Critical 合肥搬易通科技发展有限公司
Publication of WO2023108966A1 publication Critical patent/WO2023108966A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements

Definitions

  • the invention relates to the technical field of forklift steering axle equipment, in particular to an independent electronic steering axle and a four-point counterbalanced forklift.
  • the mainstream four-point counterbalanced forklift adopts hydraulic steering mode.
  • the hydraulic steering cylinder is fixed on the steering bridge, and then connected in series with the steering wheels on both sides of the steering bridge through the steering linkage mechanism, and the two steering wheels are driven synchronously by hydraulic transmission. Steering, so as to realize the steering of the forklift.
  • the object of the present invention is to provide an independent electronic steering axle and a four-point counterbalanced forklift to solve the problems raised in the above-mentioned background technology.
  • the present invention provides the following technical solutions:
  • An independent electronic steering axle including
  • a swing bridge which is rotationally connected with the vehicle body
  • Wheel frames which are respectively arranged at both ends of the swing bridge, the upper part of the wheel frame is rotatably connected to one end of the swing bridge through a slewing support, the lower part of which is equipped with a steering wheel, and the wheel frame is equipped with a large rotating gear;
  • Steering motors are respectively arranged at both ends of the swing bridge.
  • the power output shaft of the steering motor is provided with a steering gear meshing with the large rotary gear.
  • the steering motor is electrically connected to the motor controller, and the motor controller is connected to the main motor. controller electrical connections;
  • Feedback assemblies are respectively arranged at both ends of the swing bridge, and the feedback assemblies are connected to the corresponding large rotary gears and are electrically connected to the main controller.
  • the swing axle is rotatably connected to the vehicle body through a connecting shaft and a connecting seat on the axis of symmetry.
  • the power output shaft of the steering motor is connected to the speed reducer, the output shaft of the speed reducer is equipped with a steering gear meshing with the rotary gear, and the steering motor has a built-in motor encoder electrically connected to the motor controller .
  • the rotary bull gear and the steering gear are mutually meshing gear structures.
  • the rotary bull gear and the steering gear are in a sprocket structure and are connected through a chain drive.
  • the feedback assembly includes encoders arranged at both ends of the swing bridge and electrically connected to the main controller, and the input shaft of the encoder is provided with a feedback gear meshing with the large rotary gear.
  • the feedback assembly includes potentiometers arranged at both ends of the swing bridge and electrically connected to the main controller, and the input shaft of the potentiometer is provided with a feedback gear meshing with the large rotary gear.
  • the present application also provides a four-point counterbalanced forklift, including the aforementioned independent electronic steering axle.
  • the invention replaces the traditional hydraulic steering bridge with an independent electronic steering bridge and applies it to a four-point counterbalanced forklift to realize the steering function of the forklift, provide accurate steering control progress, greatly improve the steering response speed, reduce the energy consumption of the forklift, and reduce the Noise; at the same time, the two sets of steering wheels can rotate 360°, without mutual interference of mechanisms, so that the forklift has the minimum turning radius mode, which greatly reduces the turning radius of the forklift and improves the flexibility of the forklift; and, the electronic control system is four pivots
  • the AGV control of the counterbalanced forklift provides a better control environment, and greatly improves the upper limit of the driving speed and control accuracy of the four-point counterbalanced forklift AGV.
  • Fig. 1 is a structural representation of the present invention
  • Fig. 2 is the enlarged schematic diagram of the structure of A district in Fig. 1;
  • Fig. 3 is a sectional view along A-A in Fig. 1 .
  • An independent electronic steering axle including
  • the swing bridge 1 is rotatably connected to the tail of the car body through the connecting shaft 2 and the connecting seat 3 on the axis of symmetry. When driving on the road, it can still effectively touch the ground and provide effective support and adhesion;
  • the wheel frame 4 which is two groups, is arranged at both ends of the swing bridge 1 respectively.
  • the upper part of the wheel frame 4 is rotatably connected with one end of the swing bridge 1 through the slewing support 5.
  • the steering wheel 7 is installed on the lower part of the wheel frame 4.
  • the wheel frame 4 is equipped with a rotary Large gear 6; under the action of the control device and the power device, the steering wheels 7 on both sides can independently rotate 360° around the turning point, so that the vehicle has good flexibility and controllability;
  • Steering motor 8 which is two groups, is respectively fixedly arranged at both ends of the swing bridge 1, the power output shaft of the steering motor 8 is connected to the reducer 10, and the reducer 10 is fixed on the swing bridge 1, and the steering motor 8 and the reducer 10 are used for steering Provide power output;
  • the output shaft of the reducer 10 is equipped with a steering gear 9 meshing with the rotary gear 6, so that the output power of the steering motor 8 is transmitted to the wheel frame 4 after deceleration and torque increase through the reducer 10, and at the same time indirectly drives the feedback gear 14
  • the rotary gear 6 and the steering gear 9 are gear structures that mesh with each other; as a preferred technical solution of this embodiment, the rotary gear 6 and the steering gear 9 can also be a sprocket structure, and are connected by a chain transmission, and the steering motor 8
  • the steering wheel 7 on both sides is driven by the sprocket and chain to rotate independently; by setting the motor to drive the steering wheel 7 to steer independently, compared with the traditional hydraulic transmission forklift steering axle
  • the steering motor 8 is electrically connected to the motor controller 11, and the motor controllers 11 are correspondingly arranged at both ends of the swing bridge 1.
  • the motor controller 11 is electrically connected to the main controller 12, and the motor controller 11 is used to control the steering motor 8.
  • Speed and start-stop, the main controller 12 is arranged on the swing bridge 1, and the main controller 12 is used to issue commands to the motor controller 11, and receive and determine the position signals of the two groups of steering wheels 7 of the feedback assembly;
  • the steering wheels 7 on both sides do not interfere with each other, and the two sets of steering wheels 7 can rotate 360°, which makes the four-point counterbalanced forklift not only have the smallest turning radius in normal driving mode, but also have a minimum turning radius.
  • Radius steering mode In this mode, the two groups of steering wheels 7 are turned to the state of the eight-character wrapping angle, and the wrapping angle is determined by the wheelbase of the forklift.
  • the main controller 12 commands the motor controller 11 and inputs it to the steering motor 8 for execution. The position accuracy is monitored by the feedback assembly.
  • the forklift When the forklift is in the minimum turning radius mode, the forklift can turn around the center of the front wheel base, which greatly reduces the turning radius and improves the flexibility of the forklift;
  • Feedback assemblies which are respectively arranged at both ends of the swing bridge 1, are connected to the corresponding rotary gear 6 in transmission, and are electrically connected to the main controller 12, and the feedback assemblies are arranged at both ends of the swing bridge 1, and
  • the encoder 13 electrically connected to the main controller 12, the input shaft of the encoder 13 is connected to the feedback gear 14 through the encoder seat, and the feedback gear 14 meshes with the rotary gear 6; when the rotary gear 6 drives the feedback gear 14 to rotate, The input shaft of encoder 13 rotates immediately, thereby produces the steering angle position signal corresponding to wheel carrier 4 positions, and outputs to master controller 12 judgment identification;
  • encoder 13 also can have A potentiometer with the same function;
  • the encoder 13 in order to more accurately control the angular position accuracy of the two sets of steering wheels 7, not only the encoder 13 is included in the position feedback assembly, but also the motor encoder 13 that is electrically connected to the motor controller 11 is built in the steering motor 8 , and can also monitor the corner position of the steering wheel assembly, so it has an electrical double-redundant safety guarantee design to achieve more accurate and safer steering position accuracy, and provide better control and safety for the subsequent four-point counterbalanced forklift AGV.
  • Control accuracy and control environment reduce the difficulty of control design and the risk of forklift out of control.
  • the present application also provides a four-point counterbalanced forklift, including the aforementioned independent electronic steering axle.
  • the main controller 12 sends control signals to the motor controller 11, and the motor controller 11 outputs the rotation angle and speed signals to the two groups of steering motors 8 to drive the two groups of steering wheels 7 to steer as required, and the two groups of feedback assemblies provide The real-time position signals of the two sets of steering wheels 7 are fed back to the main controller 12, so as to complete the steering requirements of different shapes, different angles, and different speeds of forklifts.

Abstract

本发明公开了一种独立电子转向桥及四支点平衡重式叉车，包括摆动桥，其与车体转动连接；轮架，其分别设置在摆动桥两端，所述轮架上部通过回转支撑与摆动桥一端可转动连接，其下部安装有转向轮；转向电机，其分别设置在摆动桥两端；以及反馈总成，其分别设置在摆动桥两端。本发明通过设置独立电子转向桥取代传统的液压转向桥应用在四支点平衡重式叉车上，实现叉车的转向功能，能够提供精确的转向控制进度，大幅改善转向响应速度，降低叉车能耗，降低噪音；同时，两组转向轮均可360°回转，无机构相互干扰，使得叉车具有最小转弯半径模式，大幅降低了叉车的回转半径，提高了叉车的灵活性。

Description

一种独立电子转向桥及四支点平衡重式叉车 技术领域
本发明涉及叉车转向桥设备技术领域，具体为一种独立电子转向桥及四支点平衡重式叉车。
背景技术
目前主流的四支点平衡重式叉车均采用液压转向方式，液压转向油缸固定在转向桥上，再通过转向连杆机构与位于转向桥两侧的转向轮串联，通过液压传动带动两个转向轮同步转向，从而实现叉车转向。上述转向装置在实际使用过程中存在较为明显的不足：
(1)叉车在改制为AGV无人叉车后，转向位置不能精确控制，且响应速度慢、能耗高、噪音大，车辆无法满足未来AGV无人叉车发展的需求；
(2)目前的主流四支点平衡重式叉车的转向桥由于受到液压油缸和转向连杆的限制，使得叉车无法围绕前轮距中心点回转，因此转弯半径大，叉车灵活性差。
发明内容
本发明的目的在于提供一种独立电子转向桥及四支点平衡重式叉车，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：
一种独立电子转向桥，包括
摆动桥，其与车体转动连接；
轮架，其分别设置在摆动桥两端，所述轮架上部通过回转支撑与摆动桥一端可转动连接，其下部安装有转向轮，所述轮架上安装有回转大齿轮；
转向电机，其分别设置在摆动桥两端，所述转向电机动力输出轴上设置有与回转大齿轮啮合的转向齿轮，所述转向电机与电机控制器电性连接，所述电机控制器与主控制器电性连接；以及
反馈总成，其分别设置在摆动桥两端，所述反馈总成与对应的回转大齿轮传动连接，并与主控制器电性连接。
优选的，所述摆动桥通过对称轴线上的连接轴和连接座与车体可转动连接。
优选的，所述转向电机动力输出轴传动连接减速器，所述减速器输出轴上安装有与回转大齿轮啮合的转向齿轮，所述转向电机内置有与电机控制器电性连接的电机编码器。
优选的，所述回转大齿轮和转向齿轮为相互啮合的齿轮结构。
优选的，所述回转大齿轮和转向齿轮为链轮结构，并通过链条传动连接。
优选的，所述反馈总成包括设置在摆动桥两端、且与主控制器电性连接的编码器，所述编码器输入轴上设置有与回转大齿轮啮合的反馈齿轮。
优选的，所述反馈总成包括设置在摆动桥两端、且与主控制器电性连接的电位计，所述电位计输入轴上设置有与回转大齿轮啮合的反馈齿轮。
本申请还提供一种四支点平衡重式叉车，包括上述所述的一种独立电子转向桥。
与现有技术相比，本发明的有益效果是：
本发明通过设置独立电子转向桥取代传统的液压转向桥应用在四支点平衡重式叉车上，实现叉车的转向功能，能够提供精确的转向控制进度，大幅改善转向响应速度，降低叉车能耗，降低噪音；同时，两组转向轮均可360°回转，无机构相互干扰，使得叉车具有最小转弯半径模式，大幅降低了叉车的回 转半径，提高了叉车的灵活性；以及，电控系统为四支点平衡重式叉车AGV控制提供了更佳的控制环境，大幅提高了四支点平衡重式叉车AGV的行驶速度和控制精度上限。
附图说明
图1为本发明的结构示意图；
图2为图1中A区结构放大示意图；
图3为图1中A-A向剖视图。
图中：1摆动桥、2连接轴、3连接座、4轮架、5回转支撑、6回转大齿轮、7转向轮、8转向电机、9转向齿轮、10减速器、11电机控制器、12主控制器、13编码器、14反馈齿轮。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-3，本发明提供一种技术方案：
一种独立电子转向桥，包括
摆动桥1，其通过对称轴线上的连接轴2和连接座3与车体尾部可转动连接，摆动桥1两端能够以连接轴2为圆心上下摆动，确保四支点平衡重式叉车在不平整路面上行驶时仍能够有效的接触地面，提供有效的支撑和附着力；
轮架4，其为两组，分别设置在摆动桥1两端，轮架4上部通过回转支撑5与摆动桥1一端可转动连接，其下部安装有转向轮7，轮架4上安装有回转大齿轮6；在控制装置和动力装置的作用下，两侧的转向轮7能够分别独立的绕回转点360°旋转，使得车辆具有良好的灵活性和控制性；
转向电机8，其为两组，分别固定设置在摆动桥1两端，转向电机8动力输出轴传动连接减速器10，减速器10固定在摆动桥1上，转向电机8和减速器10为转向提供动力输出；减速器10输出轴上安装有与回转大齿轮6啮合的转向齿轮9，从而将转向电机8输出动力通过减速器10减速增扭后传递给轮架4，同时间接带动反馈齿轮14旋转，回转大齿轮6和转向齿轮9为相互啮合的齿轮结构；作为本实施例的优选技术方案，回转大齿轮6和转向齿轮9也可以为链轮结构，并通过链条传动连接，转向电机8通过链轮和链条驱动两侧的转向轮7独立转动；通过设置电机驱动转向轮7独立转向，相较于传统的液压传动叉车转向桥能够节省至少50％的能耗，增加叉车相同配置的电池容量时的工作续航能力，降低叉车使用成本和叉车转向噪音，由于没有液压渗漏的存在，为后续四支点平衡重式叉车的工作环境污染提供了良好的屏蔽；
转向电机8与电机控制器11电性连接，电机控制器11分别对应设置在摆动桥1两端，电机控制器11与主控制器12电性连接，电机控制器11用于控制转向电机8的转速和启停，主控制器12设置在摆动桥1上，主控制器12用于给电机控制器11发布命令，并接收和判定反馈总成的两组转向轮7的位置信号；
两侧的转向轮7无机构相互干扰，两组转向轮7均可360°回转，这就使得四支点平衡重式叉车不仅具备正常行驶模式下可获得最小的转弯半径，还具备一种最小转弯半径转向模式，该模式下两组转向轮7分别转动到八字包角状态，其包角角度由叉车轴距决定，由主控制器12分别命令给电机控制器11并输入给转向电机8执行，由反馈总成监控位置准确性，当叉车处于最小转弯半径模式时，叉车可围绕 前轮距中心店回转，大幅减小了转弯半径，提高了叉车的灵活性；
反馈总成，其分别设置在摆动桥1两端，反馈总成与对应的回转大齿轮6传动连接，并与主控制器12电性连接，反馈总成包括设置在摆动桥1两端、且与主控制器12电性连接的编码器13，编码器13输入轴通过编码器座与反馈齿轮14连接，反馈齿轮14与回转大齿轮6啮合；当回转大齿轮6带动反馈齿轮14旋转时，编码器13的输入轴随即发生旋转，从而产生与轮架4位置对应的转向角度位置信号，并输出给主控制器12判定识别；作为本实施例的优选技术方案，编码器13也可以是具有同样功能的电位计；
本实施例中，为了更精确的控制两组转向轮7的转角位置精度，不仅位置反馈总成中包含有编码器13，且转向电机8内置有与电机控制器11电性连接的电机编码器，也可监测转向轮总成的转角位置，因此具备电气双冗余安全保障设计，实现更精确、更安全的转向位置精度，为后续四支点平衡重式叉车AGV的控制和安全提供更好的控制精度，控制环境，降低了控制设计难度和叉车失控风险。
本申请还提供一种四支点平衡重式叉车，包括上述的一种独立电子转向桥。
工作原理：主控制器12向电机控制器11发出控制信号，电机控制器11输出转角和转速信号给两组转向电机8分别带动两组转向轮7按要求进行转向，两组反馈总成分别提供两组转向轮7的实时位置信号反馈给主控制器12，从而完成叉车不同形态、不同角度、不同转速的转向要求。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (8)

  1. 一种独立电子转向桥，其特征在于：包括
    摆动桥(1)，其与车体转动连接；
    轮架(4)，其分别设置在摆动桥(1)两端，所述轮架(4)上部通过回转支撑(5)与摆动桥(1)一端可转动连接，其下部安装有转向轮(7)，所述轮架(4)上安装有回转大齿轮(6)；
    转向电机(8)，其分别设置在摆动桥(1)两端，所述转向电机(8)动力输出轴上设置有与回转大齿轮(6)啮合的转向齿轮(9)，所述转向电机(8)与电机控制器(11)电性连接，所述电机控制器(11)与主控制器(12)电性连接；以及
    反馈总成，其分别设置在摆动桥(1)两端，所述反馈总成与对应的回转大齿轮(6)传动连接，并与主控制器(12)电性连接。
  2. 根据权利要求1所述的一种独立电子转向桥，其特征在于：所述摆动桥(1)通过对称轴线上的连接轴(2)和连接座(3)与车体可转动连接。
  3. 根据权利要求2所述的一种独立电子转向桥，其特征在于：所述转向电机(8)动力输出轴传动连接减速器(10)，所述减速器(10)输出轴上安装有与回转大齿轮(6)啮合的转向齿轮(9)，所述转向电机(8)内置有与电机控制器(11)电性连接的电机编码器。
  4. 根据权利要求3所述的一种独立电子转向桥，其特征在于：所述回转大齿轮(6)和转向齿轮(9)为相互啮合的齿轮结构。
  5. 根据权利要求3所述的一种独立电子转向桥，其特征在于：所述回转大齿轮(6)和转向齿轮(9)为链轮结构，并通过链条传动连接。
  6. 根据权利要求1-5任意一项所述的一种独立电子转向桥，其特征在于：所述反馈总成包括设置在摆动桥(1)两端、且与主控制器(12)电性连接的编码器(13)，所述编码器(13)输入轴上设置有与回转大齿轮(6)啮合的反馈齿轮(14)。
  7. 根据权利要求1-5任意一项所述的一种独立电子转向桥，其特征在于：所述反馈总成包括设置在摆动桥(1)两端、且与主控制器(12)电性连接的电位计，所述电位计输入轴上设置有与回转大齿轮(6)啮合的反馈齿轮(14)。
  8. 一种四支点平衡重式叉车，其特征在于：包括权利要求1-7任意一项所述的一种独立电子转向桥。
PCT/CN2022/086824 2021-12-14 2022-04-14 一种独立电子转向桥及四支点平衡重式叉车 WO2023108966A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111532215.4A CN114044466A (zh) 2021-12-14 2021-12-14 一种独立电子转向桥及四支点平衡重式叉车
CN202111532215.4 2021-12-14

Publications (1)

Publication Number Publication Date
WO2023108966A1 true WO2023108966A1 (zh) 2023-06-22

Family

ID=80212821

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/086824 WO2023108966A1 (zh) 2021-12-14 2022-04-14 一种独立电子转向桥及四支点平衡重式叉车

Country Status (2)

Country Link
CN (1) CN114044466A (zh)
WO (1) WO2023108966A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114044466A (zh) * 2021-12-14 2022-02-15 合肥搬易通科技发展有限公司 一种独立电子转向桥及四支点平衡重式叉车
CN115092245A (zh) * 2022-07-08 2022-09-23 湖北三江航天万峰科技发展有限公司 防爆蓄电池牵引车电助力转向机构

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006187047A (ja) * 2004-12-24 2006-07-13 Nissan Motor Co Ltd ４輪独立駆動車の駆動力制御装置
CN103754258A (zh) * 2013-08-16 2014-04-30 杨鹏波 叉车转向桥
CN105365882A (zh) * 2014-11-07 2016-03-02 比亚迪股份有限公司 叉车的转向控制装置、方法和叉车
CN207581287U (zh) * 2017-12-13 2018-07-06 上海汇聚自动化科技有限公司 一种带有四轮驱动机构的全向移动前移式叉车
CN110194216A (zh) * 2019-06-24 2019-09-03 深圳凌众大通智能科技有限公司 一种基于四轮全动的非独立自适应农用机器人底盘
CN110626995A (zh) * 2019-09-25 2019-12-31 合肥搬易通科技发展有限公司 一种四支点多转向窄巷道铰接式叉车
CN112172961A (zh) * 2020-10-19 2021-01-05 宋文霞 一种无弹性元件可实现刚柔状态切换的小车
CN113320335A (zh) * 2021-07-05 2021-08-31 合肥搬易通科技发展有限公司 一种车辆连桥装置及托盘车
CN214493146U (zh) * 2020-12-04 2021-10-26 安徽安天锂能科技有限公司 一种移动充电车的万向移动底盘
CN114044466A (zh) * 2021-12-14 2022-02-15 合肥搬易通科技发展有限公司 一种独立电子转向桥及四支点平衡重式叉车
CN114314432A (zh) * 2022-02-23 2022-04-12 合肥搬易通科技发展有限公司 一种全轮电子转向后双驱全向平衡重式叉车

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006187047A (ja) * 2004-12-24 2006-07-13 Nissan Motor Co Ltd ４輪独立駆動車の駆動力制御装置
CN103754258A (zh) * 2013-08-16 2014-04-30 杨鹏波 叉车转向桥
CN105365882A (zh) * 2014-11-07 2016-03-02 比亚迪股份有限公司 叉车的转向控制装置、方法和叉车
CN207581287U (zh) * 2017-12-13 2018-07-06 上海汇聚自动化科技有限公司 一种带有四轮驱动机构的全向移动前移式叉车
CN110194216A (zh) * 2019-06-24 2019-09-03 深圳凌众大通智能科技有限公司 一种基于四轮全动的非独立自适应农用机器人底盘
CN110626995A (zh) * 2019-09-25 2019-12-31 合肥搬易通科技发展有限公司 一种四支点多转向窄巷道铰接式叉车
CN112172961A (zh) * 2020-10-19 2021-01-05 宋文霞 一种无弹性元件可实现刚柔状态切换的小车
CN214493146U (zh) * 2020-12-04 2021-10-26 安徽安天锂能科技有限公司 一种移动充电车的万向移动底盘
CN113320335A (zh) * 2021-07-05 2021-08-31 合肥搬易通科技发展有限公司 一种车辆连桥装置及托盘车
CN114044466A (zh) * 2021-12-14 2022-02-15 合肥搬易通科技发展有限公司 一种独立电子转向桥及四支点平衡重式叉车
CN114314432A (zh) * 2022-02-23 2022-04-12 合肥搬易通科技发展有限公司 一种全轮电子转向后双驱全向平衡重式叉车

Also Published As

Publication number Publication date
CN114044466A (zh) 2022-02-15

Similar Documents

Publication Publication Date Title
WO2023108966A1 (zh) 一种独立电子转向桥及四支点平衡重式叉车
CN102069843B (zh) 线控车轮独立转向执行机构及车轮总成
CN206154284U (zh) 移动机器人底盘及移动机器人
CN106043426A (zh) 一种汽车及车轮转向系统
CN201907555U (zh) 线控车轮独立转向执行机构及车轮总成
CN202175087U (zh) 一种转向传动机构
CN204876697U (zh) 家用立体停车库
CN110654448B (zh) 轮毂电机分布式电驱动汽车多功能转向机构及其方法
CN108146495A (zh) 一种完全扭转传动的应急救援车辆转向装置
US20180362077A1 (en) Self-powered wheel and disc type omnidirectional power steering system
CN107813869A (zh) 一种用于分布式驱动电动汽车的复合eps控制系统及方法
CN217350618U (zh) 一种独立电子转向桥及四支点平衡重式叉车
CN114291157A (zh) 一种全轮电子转向车辆底盘及前双驱全向平衡重式叉车
CN115042894B (zh) 一种旱田四轮电驱机器人运动控制系统及转向控制方法
CN207496771U (zh) 一种四轮转向传动装置
CN207045448U (zh) 一种电动底盘
CN205872174U (zh) 一种汽车及车轮转向系统
CN205273578U (zh) 轮组翻转机构
CN204555948U (zh) 车轮转角测量装置及多轴转向车辆
CN114314432A (zh) 一种全轮电子转向后双驱全向平衡重式叉车
CN210912587U (zh) 一种叉车驱动转向系统
CN208774866U (zh) 一种电动汽车四轮线控独立转向架构
CN202557646U (zh) 一种多向移动装置和上片台
CN217347947U (zh) 一种全轮电子转向车辆底盘及前双驱全向平衡重式叉车
CN217350606U (zh) 一种全轮电子转向车辆底盘及后双驱全向平衡重式叉车

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22905734

Country of ref document: EP

Kind code of ref document: A1