CN101531131A - All-wheel drive vehicle with electric wheels - Google Patents
All-wheel drive vehicle with electric wheels Download PDFInfo
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- CN101531131A CN101531131A CN200810182311A CN200810182311A CN101531131A CN 101531131 A CN101531131 A CN 101531131A CN 200810182311 A CN200810182311 A CN 200810182311A CN 200810182311 A CN200810182311 A CN 200810182311A CN 101531131 A CN101531131 A CN 101531131A
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Abstract
The invention relates to an all-wheel drive vehicle with electric wheels, which belongs to the technical field of electric automobiles. The invention aims to solve the technical problem that the electric automobiles thoroughly break away from the dependence on a mechanical transmission system and a steering system of an internal combustion engine vehicle but have complete electrification function for replacement. Thus the main technical characteristics of the all-wheel drive vehicle comprise that four wheels are independent from each other and the whole wheels are driven directly, independent traveller-type steering knuckles of the four wheels are suspended independently, the four wheels are steered independently and simultaneously, the four wheels are pulsed independently to regulate the electronic differential speed, and the periphery of a center sill is mixed with a vehicle framework crisscross universal joint.
Description
Technical field:
" all-wheel drive vehicle with electric wheels " is " electric vehicle engineering (machinery, motor, automatically controlled) field under it.Electronlmobil includes fuel cell powered vehicle, hybrid vehicle, pure electric automobile at present.
Background technology:
1. 21 century whole world oil resources face exhaustion, and the vehicle are unsustainable when the time comes, the non-zero-emission of internal combustion automobile.To the atmosphere gross pollution, threaten human health and ecology environment.
2. traditional internal combustion automotive engine is a reciprocating-piston, its output shaft rotating speed height, and moment of torsion is little, and it can not starting under load.For making the operation of engine starting and vehicle starting, item---machine driven systems such as change-speed box, power-transfer clutch, transmission shaft, gear reduction, diff, jackshaft must be set then.During automotive operation, noises such as frequent starting, gear shift, acceleration, deceleration, brake are a lot of, and the internal combustion car opertion will be restricted.
3. internal combustion automobile type of drive: f-w-d, back-wheel drive, four-wheel (full wheel) drives.Its physical construction of internal combustion automobile all-wheel drive is very complicated, seldom adopts, and shows referring to Figure 13 letter.
4. the mechanism of control internal combustion vehicle traveling direction claims steering system, and mostly is front-wheel steering, and garage's track is 4, and interference is arranged between front and back wheel during turning.The car minimum turning radius is not less than 4.5M, and seldom using has front and back wheel to turn to synchronously, because the steering gear connection complex structure, so the parking area floor area is big, turnover parking lot inconvenience.
5. fuel cell powered vehicle; The fuel cell powered vehicle of current appearance (sample car) still prolongs the machine driven system (containing steering system) with the internal combustion automobile, though be zero-emission, noise still.
6. traditional hybrid vehicle; The power machine driving system (containing steering system) that its existing internal combustion automobile is complete, having again with the storage battery is the driven by power structure of the energy.Both are compatible, cooperate complexity, it is characterized in that:
6.1 just reduce the quantity of exhaust emission, more do not break away from dependence to oil resources.
6.2 the power of internal combustion automobile, machine driven system noise are still.
Though, fully do not represent as power-actuated advantage 6.3 driven by power is arranged.
6.4 the dual technology of operating maintenance, the annual operating cost height.
6.5 the dual technology of hybrid vehicle, complex structure, cost occupies high, and industrialization process is slow.
6.6 the steering system structure is identical with the internal combustion automobile.Function is also same, and shortcoming also together.
7. traditional pure electric automobile; It is to convert on the basis of interior right automobile, and electrical motor replaces driving engine, and storage battery replaces fuel tank, it is characterized in that:
7.1 the just power resources that change have realized zero-emission.
Use 7.2 the machine driven system of internal combustion automobile (containing deflector) all keeps, noise still.
7.3 the dual technology of operating maintenance, the annual operating cost height.
Though 7.4 be driven by power, fully do not represent, fail to represent electrified advantage yet as power-actuated advantage.
7.5 the steering system structure is identical with the internal combustion automobile.Function is also same, and shortcoming also together.
7.6 traditional pure electric automobile still keeps mechanical drive system.Complex structure, cost occupies high, causes industrialization process slow.
8. electric vehicle; In traditional automobile with electric transmission (driving engine-electrical generator-electrical control-electric drive wheel), traction electric machine is contained in forms electronic bridge in the rear-axle casing.By the wheel that is contained in form electric drive wheel (having only the driving function) among the Grains, its complex structure needs just to finish a plurality of 90 ° through a plurality of intermediate gears and internally toothed annulus and turns to and take turns Grains and be connected.This kind labyrinth transports in the mine, large-scale irrigation site (special use), and large-tonnage (hundred tons of meters), high-power (hundreds of kilowatts) automobile with electric transmission is existing uses (merchandizing), for the structure of complexity will have big input.
9. drive motor has direct current, exchanges two kinds:
9.1 the DC machine conventional confguration is, stator is an excitation field, and rotor is a rotating armature.The input power supply enters armature loop by brush and commufafor, forms rotary power.Its traction, speed adjusting performance all are suitable for the automobile requirement.But, the dc motor structure complexity, many and be subjected to the commufafor structural limitations with copper, rotating speed can not be too high, and move unreliable (being brushed with the ring sparking), must often safeguard.
9.2 it is less that asynchronous motor is used in automobile with electric transmission, because the reverse control technology complexity of asynchronous motor, since the eighties in 20th century, the development of AC speed regulating has appearred promoting in high-power switch tube, even if adopt the control of three-phase voltage type PWM inverter, the induction motors torque characteristic curve is transformed into the DC motor torque characteristic curve, in other words near the tractive characteristic of series excitation DC machine, obviously is the comparison difficulty.
9.3 be brushed with the ring synchronous motor: simple.
9.4 commutatorless (real is electronic commutation) electrical motor: permanent-magnet brushless DC electric machine (rotor is a permanent magnet).Switched reluctance machines, stator adopt simply concentrates winding, and rotor to be salient pole do not have winding.Lundell synchronous motor, armature winding and excitation winding all are located at stator side.Above-mentioned commutatorless machine mostly is and adopts the control of three-phase voltage type PWM (6 switching valve) inverter, the equipment complexity, and footprint is big.Be not suitable for the finite space occasion, because circumstance complication (high temperature, vibration, impact etc.) permanent-magnet material still has demagnetization effects.
The space orientation (angle) of indispensable its detection means of rotor position detector (containing near switching regulator, photo-electric, electromagnetic type) all with relevant with the disk of the interconnected rotation of electric machine main shaft, makes system architecture complicated in the tradition commutatorless electrical motor.
10. the drive system of electronlmobil:
1. mechanical drive system: promptly prolong mechanical drive system, on Kai Fa the electronlmobil employing is arranged more in the early stage with the internal combustion automobile.Its characteristics: noise is a lot of, and driving efficiency is lower, can not satisfy the electric powered motor performance demands.
2. dynamo-electric integrated drive system: promptly in prolonging the framework that drives with the internal combustion automobile mechanical, cancelled and handled the low gear transmission of frequent driving efficiency, its characteristics are not for breaking away from mechanical drive system.
3. the electromechanical integration drive system is exactly rearmounted electronic bridge in fact, two drive wheels about two electrical motors drive by two semiaxis respectively about it.Between two motors, E-Diff is housed.Though its characteristics ratio 1,2 two kind of drive form make progress, and are not completely free of mechanical drive system yet.
4. Lun Grains motor driven systems: promptly drive motor be contained among the Lun Grains Lun Grains motor driven systems than above-mentioned 1,2,3 three kind of drive system for good, but its complex structure turns to and takes turns Grains and be connected when must just finishing a plurality of 90 ° through a plurality of intermediate gears and internally toothed annulus, big input will be arranged for this reason.Lun Grains motor driven systems has been used for railway electric locomotive (not having steering operation) and electronic dumping truck (only being used for back-wheel drive).Above-mentioned 1-4 item all belongs to indirect driving, and transmission link is many, and degradation of energy is big, and is inapplicable as the battery-driven car of the vehicle-mounted limited energy.
The technological document relevant with background technology: current, the correlation technique file in relevant electric vehicle engineering field is still few, and what can see is exactly " People's Republic of China's vehicle technology industry standards " of " Chinese battery-driven car " magazine and the publication of this magazine.
The purpose of invention: the technical matters that invention will solve is: electronlmobil is completely free of the internally dependence of right automobile mechanical driving system (containing steering system), and is replaced by electrified function completely.For China developing in the competition of battery-driven car with foreign country (U.S., day, Europe etc.), omit very long Technical Follow-Up process, directly walk the road of original innovation, thereby realization leap in big strides pulls up to 25 years.And " all-wheel drive vehicle with electric wheels " has the physical construction (not having mechanical transmission system) simplified most and multi-functional tool one (time see technical scheme) " electromechanical integration combination ", created necessary condition for fully representing electrified advantage, " all-wheel drive vehicle with electric wheels " is applicable to multiple vehicle, in case start working, what its industrialization process will be than people imagination is fast.
" all-wheel drive vehicle with electric wheels " technical scheme:
By electric control system block diagram 5 as seen, technical scheme comprises electric, two specialties of machinery, have driven by power, chopper speed control, electronic differential, turn to synchronously, multiple function tool one such as independent suspension, be characterized in that physical construction simplifies compactness, electrified complete function very much.
The technical scheme electric part:
1. chopper speed control: (Fig. 2: chopper speed control electronic differential logic diagram).It is PWM DC/DC technology.It is to be based upon binistor input voltage is carried out on the basis of copped wave.8098 single motors can provide the cycle to fix (T=15.6KHz), the pwm signal of EDM Generator of Adjustable Duty Ratio (resolution is 1/256).The dutycycle of PWM
Depend on the value in the 8098 SCM PWM control registers.This example will be changed the instantaneous value of PWM control register by the numerical variable (8 natural binary codes of absolute optical encoder output, resolution is 1/256, by the input of P3 mouth) of pedal acceleration, deceleration operation output.So the 8098PWM mouth is corresponding control shape of output signal just, act on the switching valve of DC loop.(MTK1,2) makes PWM to arteries and veins motor input voltage and regulates, and reaches the speed governing purpose.
2. E-Diff: electronlmobil is being turned (turn left or turn right) when travelling, and has between the interior wheel (the same instantaneous center of turn O of low coverage) that drives function and foreign steamer (away from O) the differential requirement is arranged.The size of differential value and deflection angle α (nearside wheel corner), β (outside corner) is relevant.Absolute optical encoder (is exported 8 natural binary codes, resolution is 1/256) link with steering swivel, the numerical variable of output corner causes 8098P4 mouth (8) is regulated program as chopper speed control regulatory factor, participate in PWM and regulate program, finish differential function.(referring to Fig. 2: chopper speed control electronic differential logic diagram)
3. the four-wheel position is independent, and (referring to Fig. 1: the electric drive wheel combination) also option is front-wheel or back-wheel drive mode to take turns direct drive mode entirely.
4. the independent steering swivel system synchronously in four-wheel position: (referring to Fig. 1: the electric drive wheel combination; Fig. 3: steering swivel assembling B; Fig. 6: four-wheel bit synchronization divertical motion; Fig. 7: trapezoidal connecting rod mechanism movement; Fig. 8: the step motor drive logic diagram) stepping motor issues the male character types in Chinese operas, usu. referring tov the bearded character displacement (revolution) in the effect of electric pulse, and noninertia can accurately be located.Incremental optical-electricity encoder and steering box interlock, output electric pulse, and cause pulse distributor and interface circuit thereof, and act on stepping motor, finish turning to the driving function.And accomplish to turn to synchronously (front-wheel left, trailing wheel to the right, or front-wheel is to the right, trailing wheel is left), nearside wheel corner α is greater than off-side wheel corner β, when α=45 °, when β=22.5 °, α=0 °, β=0 °.
5. electric braking: (referring to Fig. 5: the electric control system block diagram)
The brake mode of electronlmobil: it is main that this example adopts electric braking, and mechanical braking is the operation scheme of assisting, and wherein has: energy storage braking, regenerative braking, mechanical braking, reversing braking.
" all-wheel drive vehicle with electric wheels " technical scheme:
The technical scheme mechanics:
1. the electric drive wheel fabricate block is shaken hands by motor: (referring to Fig. 1: the electric drive wheel combination) by the body of shaking hands, the both sides end cap and the axle of shaking hands are formed.The drive motor support is an external tooth form, has the shaking hands of internal tooth form and end cap restriction location, both sides is arranged from axially inserting.Shaking hands becomes the supporting mass of drive motor.
2. through coupling: DC machine is a through coupling therebetween Yu be direct drive between the Lun Grains, and slave end is the involute outer spline axle.
3. involute inner spline (hole) wheel disc (is Yu Lun Grains attaching parts) by the double cone bearing, jam nut, thrust baring etc. are fixed on handshake terminal and cover (containing both sides).
The end cap of shaking hands that item assembles on the process is being assemblied on the body of shaking hands through bolt of cover, so the both sides wheel disc rotates nimbly and freely, does not promptly have end float misalignment, also can't be to displacement, and during DC machine work, its two axial ends output torque does not bear vertical load.
4. slide column type steering swivel independent suspension is (referring to Fig. 1: the electric drive wheel combination; Fig. 3: steering swivel assembling B; Fig. 6: four-wheel bit synchronization divertical motion; Fig. 7: trapezoidal connecting rod mechanism movement) independent suspension is the steering swivel slide rod sleeve (guiding) that the central sill periphery mixes the elastic coupling element between vehicle frame (ingot-shaped) and the wheel and is provided with by the middle part of shaking hands, steering stub axle bearing sleeve (carrying), spiral compression spring (carrying, buffering), compositions such as bumper.
Shake hands, steering swivel, by the axle of shaking hands, tight power spring, steering handwheel, assemble as a wholely, in its succession load on spring, shake hands axle under the effect of steering handwheel (stepping motor) tangential force, freely turn round, realization is carried and is moved the function that turns to.In order to guarantee to turn to, interior foreign steamer has same instantaneous center of turn 0 and different (nearside wheel) corner α and (off-side wheel) corner β, and makes α〉β.Between left and right wheel the (before and after containing), be provided with trapezoidal drag link mechanism, stepping motor turned to drive to do confirm and the location.
5. criss-cross universal-joint: (referring to Fig. 4: the criss-cross universal-joint) descent stage (vertical section) at the ingot-shaped vehicle frame is provided with the criss-cross universal-joint.
Above-mentioned electric, the technical scheme of two specialties of machinery, independent separately, tight logical combination cleverly mutually consists of the electromechanical integration technology scheme of innovation again, if can specifically implement, can reach the purpose of invention fully.
The beneficial effect of institute's tool is compared in invention with background technology:
1. integral structure is simplified, compactness, complete function.Satisfied electronlmobil startup, operation, acceleration and deceleration, braked, turned to, the requirement of an operation such as differential.
2. be completely free of the dependence of the internally right automobile mechanical driving system (containing steering system) of electronlmobil, operation is electrified fully, has dicyclo and protects (zero-emission, noiseless) feature, thereby realize that people research and develop the origin of electronlmobil.
3. adopt chopper speed control PWM DC/DC technology than other speed-regulating scheme simplification, reliable, also make the numerical variable of the absolute optical encoder output corner that links with steering swivel, participate in PWM and regulate, the realization electronic differential becomes simple and feasible.
4. E-Diff, realize that by the microcomputer software programming corner numerical variable participates in PWM and regulates, the hardware logic combination is simplified, cost is low, the reliability height, rotate synchronously when having guaranteed four-wheel position drive wheel straight-line travelling, differential rotates during turning driving, so wearing and tearing and improved road-holding property when having prevented tyre skidding.
5. owing to adopted four-wheel position independent (two-wheel has with flat tire) to take turns direct drive entirely, the traction property of electronlmobil and the crossing ability of complex road surface have been improved.Prevent to skid, can not cast anchor.
6. owing to adopted the four-wheel bit synchronization to turn to, garage's track has only two, and front and back wheel does not have interference when turning to, can be rapid for the driver, accurately, control the enforcement path of electronlmobil easily.When deflection angle α=45 °, minimum turning radius is less than 2M.Still but the original place turns round, and a change of direction is not subjected to displacement, so can greatly reduce the parking area area, conveniently parks.
7. owing to adopted four-wheel position independent suspension and central sill periphery to mix vehicle frame, just can accomplish the chassis plate layout, center of gravity is reduced, prevent rollover, can improve the speed limit on the bend.(automatic speed-limiting when this example is turning).
8. owing to adopt the central sill periphery to mix the vehicle frame universal-joint, can greatly reduce the inertia impression of passenger.Unmatched dashing when promptly braking, brake back or frustrate without male offspring when opening car does not have inclination during turning.
Description of drawings:
Fig. 1: electric drive wheel combination
| Sequence number | Title | | Title | |
| 1 | The criss-cross universal-joint | 7 | |
|
| 2 | The central sill periphery mixes |
8 | |
|
| 3 | Steering handwheel (stepping motor) | 9 | Through |
|
| 4 | The steering swivel |
10 | |
|
| 5 | The steering stub axle bearing sleeve | 11 | Drive motor and shaking hands | |
| 6 | The axle of shaking hands |
Fig. 2: chopper speed control electronic differential logic diagram
Fig. 3: steering swivel assembling B
| Sequence number | Title | | Title | |
| 1 | Bearing carrier ring | 6 | Sunk |
|
| 2 | |
7 | |
|
| 3 | The axle of shaking |
8 | |
|
| 4 | Hairfelt | 9 | |
|
| 5 | Conical bearing A | 10 | Preceding (back) axle |
Fig. 4: criss-cross universal-joint
| Sequence number | Title | | Title | |
| 1 | |
5 | |
|
| 2 | Bearing seat | 6 | Antifriction- |
|
| 3 | |
7 | |
|
| 4 | |
8 | Crosshead |
Fig. 5: all-wheel drive vehicle with electric wheels block diagram
Fig. 6: four-wheel bit synchronization divertical motion
| Sequence number | Title | | Title | |
| 1 | The |
4 | Take turns in the |
|
| 2 | Off |
5 | Left |
|
| 3 | Left center | 6 | Off hind wheel |
Fig. 7: trapezoidal connecting rod mechanism movement
| Sequence number | Title | | Title | |
| 1 | |
2 | Steering box output rotating disk |
Fig. 8: step motor drive logic diagram
Fig. 9: all-wheel drive vehicle with electric wheels profile lateral plan
Illustrate:
1. miniature electric is taken turns all-wheel-drive vehicle, and profile is stream line pattern, and vehicle body is perfectly round, no corner angle, and omni-directional visual is given aesthetic feeling.
2. four-wheel position independent suspension, the car load center of gravity reduces, and prevents rollover, has improved the safety of travelling.
3. the central sill periphery mixes vehicle frame employing ingot-shaped, helps chassis plate and arranges.The four-wheel position is independent, and a two-wheel is same as flat tire.Full wheel driven in synchronism, synchronization steering also can be preceding (back) wheel drive, improves the whole rideability of battery-driven car greatly.
Figure 10: all-wheel drive vehicle with electric wheels profile birds-eye view
Figure 11: the positive rear view (RV) of all-wheel drive vehicle with electric wheels profile
Figure 12: the central sill periphery mixes vehicle frame
| Sequence number | Title | | Title | |
| 1 | The |
5 | |
|
| 2 | Central sill | 6 | |
|
| 3 | |
7 | |
|
| 4 | Left side beam |
Illustrate:
1. this example adopts the central sill periphery to mix the center of gravity that vehicle frame (ingot-shaped) has reduced car load, has improved the safety traffic performance.
2. mix vehicle frame and can adopt the criss-cross universal-joint, can slow down impact with being connected of slide rod sleeve.
Figure 13: the internal combustion automobile four-wheel drives block diagram
Claims (10)
1. all-wheel drive vehicle with electric wheels, its major technique is characterized as the independent full wheel direct drive in four-wheel position, especially, its four-wheel position that is characterized as that is different from prior art is independently taken turns direct drive entirely, and a two-wheel (also can make single-wheel) has with flat tire characteristics, increased battery-driven car to ground-surface adhesive ability, so, steady when on complex road surface, travelling (straight line, turning), can not skid, can not cast anchor, improve the through performance of battery-driven car; Adopted electric drive wheel direct drive structure, prolonged the machine driven system of using the internal combustion automobile, saved the energy and space, simplified and arrange so just got rid of electronlmobil.The essential features total: all be to be drive source with the electrical motor with prior art.
2. all-wheel drive vehicle with electric wheels, its major technique is characterized as four-wheel position independent slide column type steering swivel independent suspension, especially, what it was different from prior art is characterized as four-wheel position independent slide column type steering swivel independent suspension, be mechanical part logical combination cleverly, have operation and turn to independent suspension, vehicle frame carries multiple function tool one, compact overall structure.The essential features total with prior art: suspension all is an elastic element; All be as various parts supporting bonded assembly matrixes with vehicle frame.
3. all-wheel drive vehicle with electric wheels, its major technique are characterized as the independent steering swivel system synchronously in four-wheel position, and be special, what it was different from prior art is characterized as the independent steering swivel system synchronously in four-wheel position, wheel trajectories has only two, and convenient when turning to, rapid, accurate, front and back wheel does not have interference.Minimum turning radius is less than 2M, but still the original place turns round, and a change of direction is not subjected to displacement, and reduces the parking area area, and the turnover parking lot is very convenient.
4. all-wheel drive vehicle with electric wheels, its major technique is characterized as four-wheel position independent chopper speed control E-Diff logic diagram, especially, it is different from being characterized as of prior art and adopts PWM DC/DC technology to simplify reliably than transformation, frequency control, is applicable to the finite space occasion; Realize electronic differential functional reliability height by software programming, save hardware resource, cost-cutting.
5. all-wheel drive vehicle with electric wheels, its major technique is characterized as the electric control system block diagram, especially, it is different from being characterized as by the electric control system block diagram as seen of prior art, the characteristics of its machinery of all-wheel drive vehicle with electric wheels, electric unitized construction, it is the research of the multiple vehicle of electronlmobil applicable to multiple vehicle, exploitation provides the good technical basic platform, thereby quickens the electric vehicle industrialization process.
6. all-wheel drive vehicle with electric wheels, its major technique is characterized as the central sill periphery and mixes vehicle frame criss-cross universal-joint, especially, it is different from being characterized as of prior art and adopts the central sill periphery to mix the vehicle frame universal-joint, can greatly reduce the inertia impression of passenger, unmatched dashing when promptly braking frustrated when brake back or startup without male offspring, do not have inclination during turning.
7. the independent full wheel direct drive feature in four-wheel as claimed in claim 1 position, its dependent claims is: for realizing the independent full wheel direct drive in four-wheel position, set up " electric drive wheel fabricate block " especially: by drive motor, motor is shaken hands, steering swivel, the axle of shaking hands, tight power spring, steering handwheel is formed.
8. four-wheel as claimed in claim 2 position independent slide column type steering swivel independent suspension feature, its dependent claims is: foreign steamer has same instantaneous center of turn O and different nearside wheel corner α and off-side wheel corner β in order to guarantee to turn to, and make α〉β, between left and right wheels (before and after containing), be provided with trapezoidal drag link mechanism, stepping motor turned to drive to do confirm and the location.
9. the independent steering swivel system feature synchronously in four-wheel as claimed in claim 3 position, its dependent claims is: slide column type steering stub axle bearing sleeve, outer rim is designed to the rectangular spline external tooth form, and steering swivel slide rod sleeve inner edge is designed to the rectangular spline internal tooth form and inserts spiral compression spring in the inboard and following spiral end cap of the last spiral end cap outside.So function that steering swivel just can have carrying and turn to.
10. electric control system block diagram technical characterictic as claimed in claim 4, its dependent claims is: this example adopts brushless acyclic DC machine, the input of control system major loop, mouth is provided with the combined switch of being made up of power electronic devices, makes its control simple, reliable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810182311A CN101531131A (en) | 2008-11-17 | 2008-11-17 | All-wheel drive vehicle with electric wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810182311A CN101531131A (en) | 2008-11-17 | 2008-11-17 | All-wheel drive vehicle with electric wheels |
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| Publication Number | Publication Date |
|---|---|
| CN101531131A true CN101531131A (en) | 2009-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810182311A Pending CN101531131A (en) | 2008-11-17 | 2008-11-17 | All-wheel drive vehicle with electric wheels |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103449307A (en) * | 2013-09-18 | 2013-12-18 | 上海振华重工(集团)股份有限公司 | Electric drill difference auxiliary turning device and method for crane cart walking |
| CN105682977A (en) * | 2013-10-23 | 2016-06-15 | 德洲·大卫·赵 | All electric / electrical vehicles |
| CN111619336A (en) * | 2020-06-29 | 2020-09-04 | 徐州徐工铁路装备有限公司 | Port transfer vehicle and control method thereof |
| CN112713726A (en) * | 2020-12-25 | 2021-04-27 | 中车永济电机有限公司 | Traction motor bearing transportation protection tool with shaft extension |
-
2008
- 2008-11-17 CN CN200810182311A patent/CN101531131A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103449307A (en) * | 2013-09-18 | 2013-12-18 | 上海振华重工(集团)股份有限公司 | Electric drill difference auxiliary turning device and method for crane cart walking |
| CN103449307B (en) * | 2013-09-18 | 2015-04-08 | 上海振华重工(集团)股份有限公司 | Electric drill difference auxiliary turning device and method for crane cart walking |
| CN105682977A (en) * | 2013-10-23 | 2016-06-15 | 德洲·大卫·赵 | All electric / electrical vehicles |
| CN111619336A (en) * | 2020-06-29 | 2020-09-04 | 徐州徐工铁路装备有限公司 | Port transfer vehicle and control method thereof |
| CN111619336B (en) * | 2020-06-29 | 2024-03-22 | 徐州徐工港口机械有限公司 | Port transfer vehicle and control method thereof |
| CN112713726A (en) * | 2020-12-25 | 2021-04-27 | 中车永济电机有限公司 | Traction motor bearing transportation protection tool with shaft extension |
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Application publication date: 20090916 |