CN205675099U - A kind of independent vehicular modular wheel set driven and turn to - Google Patents
A kind of independent vehicular modular wheel set driven and turn to Download PDFInfo
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- CN205675099U CN205675099U CN201620478979.8U CN201620478979U CN205675099U CN 205675099 U CN205675099 U CN 205675099U CN 201620478979 U CN201620478979 U CN 201620478979U CN 205675099 U CN205675099 U CN 205675099U
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Abstract
The utility model discloses a kind of for four motorized wheels and the electromobile modularization wheel set turned to, including vehicle frame；Steer motor, it is fixed on described vehicle frame；And subframe, it is formed and accommodates space；Described subframe is rotatably supported on described vehicle frame；The output shaft of described steer motor connects described subframe, and described subframe can be around output shaft rotation；Driving motor, it is fixed in described receiving space, is used for driving wheel to rotate；Column, wheel hub is rotatably supported on described column；Described column has through hole, and the output shaft of described driving motor drives wheel through described through hole；Upper suspension swing arm, its two ends are connected to by rubber packing between upper end and the described column in described receiving space；Lower suspension swing arm, its two ends are connected to by rubber packing between lower end and the described column in described receiving space.Wheel set integrated driving of the present utility model, braking, suspension and steering, it is achieved four motorized wheels with turn to.
Description
Technical field
This utility model belongs to automotive field, be specifically related to four motorized wheels with turn to electric automobile and drive, brake, outstanding
Frame and steering module wheel set structure.
Background technology
Auto electric technology with electric automobile as representative has had become as the focus of world today's automotive engineering research and development
One of, owing to distributed-driving electric automobile has aobvious relative to orthodox car at stability, active safety and the aspect such as energy-conservation
Write control advantage and will become the important development direction of New Generation of Electric Vehicle.Four motorized wheels with turn to electric automobile conduct
The one of distributed-driving electric automobile, in addition to four drive electromobile, four steer motor control four wheels
Corner, four-wheel drive or braking moment, four-wheel corner are individually controllable, relative to tradition chassis distributed-driving electric automobile system
Response faster, not only has more controllable degrees of freedom, and controls the most accurate, it has also become the representative of New Generation of Electric Vehicle.
Four motorized wheels and independent steering electric automobile mainly use four-wheel In-wheel motor driving the most both at home and abroad, and use wheel hub electricity
Machine drives and has the disadvantage that 1. are arranged on inside wheel due to wheel hub motor, makes brakes, suspension system be not easy to arrange；
2. wheel hub motor adds automobile nonspring carried mass, makes the ride comfort of vehicle and handling variation；The most existing wheel hub motor power
Relatively small with torque, vehicle dynamic quality is poor.
Utility model content
A purpose of the present utility model is to provide a kind of wheel set using Direct wheel drives, by suspension, turns to, drives
Become one structure with braking, make the weight of driving motor be carried raising vehicle running smoothness and maneuverability by suspension,
And further increase vehicle dynamic quality.
In order to realize according to these purposes of the present utility model and further advantage, it is provided that a kind of for four motorized wheels
With the electromobile modularization wheel set turned to, including:
Vehicle frame；
Steer motor, it is fixed on described vehicle frame；And
Subframe, it is formed and accommodates space；Described subframe is rotatably supported on described vehicle frame；Described steer motor
Output shaft connect described subframe, described subframe can be around output shaft rotation；Wherein, the upper end in described receiving space has
Upwardly extending protruding support；
Driving motor, it is fixed in described receiving space, is used for driving wheel to rotate；
Column, wheel hub is rotatably supported on described column；Described column has through hole, the output of described driving motor
Axle drives wheel through described through hole；
Upper suspension swing arm, its two ends are connected to by rubber packing between upper end and the described column in described receiving space；
Lower suspension swing arm, its two ends are connected to by rubber packing between lower end and the described column in described receiving space.
Preferably, described wheel set also includes: spring cushion assembly, and its two ends are respectively supported at described projection and prop up
Between frame and described suspension top link.
Preferably, also including: spring cushion assembly, its two ends are respectively supported at described upper end, receiving space and described
Between suspension lower swing arm.
Preferably, also include:
Brake disc, its fixing connection wheel hub；
Caliper, it is fixed on described column, it is possible to the clamping brake disc when braking.
Preferably, the output shaft of described steer motor is straight down；The bottom of described subframe is rotatable by rotating shaft
Being supported on described vehicle frame, the output shaft of described rotating shaft and described steer motor is coaxial.
Preferably, the output shaft of described driving motor is rotatably connected internal spherical cage, and internal spherical cage connects wheel hub by semiaxis.
Preferably, also including upper flange plate and lower flange, described steer motor passes through upper flange plate and lower flange
It is fixed on vehicle frame.
Preferably, also including secondary steering spindle, it is upper and lower that it is symmetrically mounted on subframe with the output shaft of described steer motor
Both sides, described secondary steering spindle rotates with steer motor output shaft synchronous.
This utility model at least includes following beneficial effect: this utility model exists driving, braking, suspension and steering
Each wheel carries out integrated, defines modular cart wheel assembly structure, and the weight of Direct wheel drives motor is by being supported on vehicle frame
Bogie carry, drive motor weight conversion become sprung mass.Vehicle frame adds four modular cart wheel assemblies
Just constitute four motorized wheels and turn to electric vehicle chassis framework.This utility model reduces automobile unsprung mass, improves vapour
Car ride performance and maneuverability, improve vehicle dynamic quality.
Part is embodied by further advantage of the present utility model, target and feature by description below, and part also will be passed through
Research of the present utility model and practice are understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of this utility model electric automobile and a kind of implementation of wheel set.
Fig. 2 is the structure chart of another implementation of this utility model wheel set.
Fig. 3 is the front view of another implementation of this utility model wheel set.
Fig. 4 is this utility model four motorized wheels and the complete vehicle structure figure turning to electric automobile.
Fig. 5 is this utility model four motorized wheels and the front-wheel steer ideograph turning to electric automobile.
Fig. 6 is this utility model four motorized wheels and the rear-axle steering ideograph turning to electric automobile.
Fig. 7 is this utility model four motorized wheels and the four-wheel steering ideograph turning to electric automobile.
Fig. 8 is this utility model four motorized wheels and the diagonal ideograph turning to electric automobile.
Fig. 9 be this utility model four motorized wheels with turn to electric automobile walk crosswise ideograph.
Figure 10 is this utility model four motorized wheels and the pivot stud ideograph turning to electric automobile.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
Should be appreciated that used herein such as " have ", " comprising " and " including " term do not allot one or many
Other element individual or the existence of a combination thereof or interpolation.
Fig. 1 show according to four motorized wheels of the present utility model with turn to electric automobile and its modular cart wheel assembly
A kind of implementation, including vehicle frame 100, wheel set 200, controller.Vehicle frame 100 is metal alloy material, has certain
Resistance to compression and impact resistance and the ability that deforms.Being respectively symmetrically before and after it and arrange 4 wheel sets 200, described wheel set 200 carries
Motor-car frame 100 moves.Wheel set 200 includes subframe 210, drives motor 220, steer motor 230, brake disc 240, wheel
250, vibration damper assembly 260, upper suspension swing arm 270, lower suspension swing arm 280 and column 290.
Subframe 210 is cuboid frame structure, and it is installed by two bearings and is bearing on vehicle frame 100, can bear one
Fixed axially and radially load, described subframe 210 inner hollow is formed and accommodates space, and described receiving space is used for placing and solid
Surely drive motor 220, drive and drive motor 220 to be synchronized with the movement with subframe 210.Subframe 210 is provided above with protruding support
211, the described protruding fixing output shaft 231 connecting steer motor 230 of support 211, turn described subframe 210 the most fixing connection
To the secondary steering spindle 232 of motor 220, described steer motor 230 drives subframe 210 to rotate about 0-180 degree, thus drives and drive
Galvanic electricity machine is synchronized with the movement with subframe 210.
Drive motor 220 to include output shaft 221, internal spherical cage 222, semiaxis 223, drive motor 220 to be bolted
In the receiving space of subframe 210, drive the output shaft 221 central through hole through column 290 of motor, by spline fitted
Cage 222, semiaxis 223 suspend be arranged between internal spherical cage 222 and wheel hub 252, make wheel 250 can relative to drive motor 220
The most low-angle rock.Motor 220 is driven to drive wheel 250 to rotate around its center, before playing drive wheel set 200
Enter, thus drive vehicle frame 100 to advance, it is achieved the effect that car load moves ahead.
Steer motor 230 includes output shaft 231, secondary steering spindle 232, upper flange plate 233, lower flange 234, steer motor
The top half of 230 is by upper flange plate 233 gun iron link on vehicle frame 100, and purgation is passed through in the latter half of steer motor 230
Blue dish 234 is fixed on subframe 210, and further, steer motor output shaft 231 is fixed on the projection of subframe 210 and props up
On frame 211, secondary steering spindle 232 is fixed on below subframe 210, described secondary steering spindle 232 installation site and the position of output shaft 131
Put corresponding, be separately positioned on output and drive the both sides up and down of motor output shaft 221, secondary steering spindle 232 other end to pass through bearing
Connecting vehicle frame 100, in a K, makes described secondary steering spindle 232 be synchronized with the movement with steer motor output shaft 231.In a word, steer motor
230 are fixed on vehicle frame 100, and its output shaft 231 and secondary steering spindle 232 drive subframe 210 to rotate about 0-180 degree, it is achieved
Turning to of wheel set 200.
Brake disc 240 includes that clamp 241, described brake disc 240 are arranged in the receiving space of wheel rim 251, with wheel hub 252
Parallel and be bolted together by four；Wherein, the clamp 241 of described brake disc 240 are fixed on column 290.Described
Wheel set 200 is played braking action by brake disc 240.
Wheel 250 includes wheel rim 251, wheel hub 252, and tire sleeve is located on wheel rim 251 periphery, and wheel rim 251 and wheel hub 252 lead to
Crossing four to be bolted together, wheel hub 252 and column 290 are installed by two bearing interference.Vibration damper assembly 260 its pass through
Ball pivot E is connected to the protruding support 211 of subframe 210, and the other end is hinged in lower suspension swing arm 280 by ball pivot C.
Suspension system includes: upper suspension swing arm 270, lower suspension swing arm 280, column 290, it has subframe 210, car
The effect that wheel 250 and vibration damper assembly 260 become one.Upper suspension swing arm 270 is triangular frame structure, and its summit is passed through
Ball pivot A is arranged on column 290, and another two end points is arranged on protruding support 211 both sides by ball pivot J；Lower suspension swing arm 280 is
Ladder-shaped frame structure, the two-end-point on the upper base of ladder-shaped frame structure is fixed on described subframe 210 following two by ball pivot H
End, ladder-shaped frame structure bottom is fixed on column by ball pivot B；Column 290 has through hole, connects wheel hub by bearing
252.Upper suspension swing arm 270, lower suspension swing arm 280, the ABHJ double leval jib transmission turning mechanism of column 290 composition, its function has
Body is, drives the output shaft 221 through hole through column 290 of motor 220, drives wheel 250 to rotate；When steer motor 230 is driven
Dynamic subframe 210 rotates to an angle, and subframe 210 is deflected by ABHJ double leval jib transmission turning mechanism band motor car wheel 250, from
And realize vehicle frame 100 and turn to.
As Fig. 2 and 3 shows the another kind of way of realization of wheel set 300, wheel set 300 includes subframe 310, drives
Galvanic electricity machine 320, steer motor 330, brake disc, wheel 350, vibration damper assembly 360, upper suspension swing arm 370, lower suspension swing arm
380 and column 390.Described its inner housing space of subframe 310, for placing and fixed drive motor 320, drives and drives motor
320 synchronous motions i.e. synchronize to turn to.The output shaft driving motor 320 passes subframe 310, through hole by column 390
After be rotatably connected the wheel hub of wheel 350.Steer motor 330 main body is fixed on vehicle frame 100, and its output shaft and secondary steering spindle are with secondary
The top and bottom projection support of vehicle frame 310 is fixing to be connected, and it drives subframe 310 to rotate 0-180 degree.Brake disc is arranged on wheel
In 350, wheel set 300 is played braking action.Wheel 350 includes that tire, wheel rim and wheel hub, wheel hub pass through with column 390
Bearing connects, and motor output shaft, through the wheel hub of the wheel 350 that is rotatably connected after column 390, makes wheel 350 rotate, and drives wheel
350 rotate thus drive wheel set 300 to advance.Vibration damper assembly 360 upper end is by the projection of ball pivot with subframe 310 upper end
Support is hinged, and ball pivot hinged lower suspension swing arm 380 is passed through in its lower end, refers to Fig. 2 and 3, and two amortisseurs jointly act on and alleviate car
The vibrations of wheel assembly 300.Upper suspension swing arm 370 two ends are respectively hinged at above subframe 310 and above column 390, lower suspension
Swing arm 380 two ends are respectively articulated with below subframe 310 and below column 390, described upper suspension swing arm 370, lower suspension swing arm 380
Composition connecting rod steering mechanism hinged with column 390, when steer motor 330 drives subframe 310 to rotate, subframe 310 passes through
Quadric chain band motor car wheel 350 rotates, it is achieved turning to of vehicle frame 100.Do not carry out due to subframe 310 beating and upper suspension pendulum
Arm 370, lower suspension swing arm 380 are beated, so now can only be compressed spring by vibration damper assembly 360 to absorb road
The shock loading that face is transmitted.
Fig. 4-10 shows the electric motor car of installing wheel assembly 200 or 300 described in the utility model, symmetrical laying on it
Four wheel sets, it is achieved the independent steering of four wheels and driving.When turning to, angular displacement sensor gathers steering wheel
Corner information, after via controller processes, makes steer motor turn over certain angle, drives bogie, drives motor, power train
System, suspension system, brakes, wheel rotate together, and four steer motor rotate simultaneously, it is achieved that independently turning of four wheels
To.It has multiple Turning travel pattern, including front-wheel steer pattern, rear-axle steering pattern, four-wheel steering pattern, diagonal mould
Formula, walk crosswise pattern and pivot stud pattern.
During as it is shown in figure 5, electric motor car turns to, angular displacement sensor gathers steering wheel angle information, and via controller enters
After row processes, controller sends turn signal to two front-wheels, controls trailing wheel and does not rotates, turning to of front-wheel steer electric machines test direction
Signal, drives front-drive respectively according to turn signal steer motor, and further, steer motor drives above two-wheeled to rotate
Different angles, make front wheels and rear wheels meet Ackermam theorem, and two front-wheel driving electric cars rotate around the center of circle and realize front-wheel steer mould
Formula.
As shown in Figure 6, when electric motor car turns to, angular displacement sensor gathers steering wheel angle information, and via controller enters
After row processes, controller sends turn signal to two trailing wheels, controls front-wheel and does not rotates, turning to of rear-axle steering electric machines test direction
Signal, steer motor drives rear wheel respectively, and further, steer motor drives two-wheeled different rotation angle below, makes
Front wheels and rear wheels meets Ackermam theorem, and two trailing wheel driving electric cars rotate around the center of circle and realize rear-axle steering pattern.
During as it is shown in fig. 7, electric motor car turns to, angular displacement sensor gathers steering wheel angle information, and via controller enters
After row processes, controller sends turn signal to front and rear wheel respectively, and the yawing moment making front wheels and rear wheels is contrary, front-wheel steer
The turn signal in electric machines test direction, its steer motor drives above two-wheeled different rotation angle；Rear-axle steering electric machines test side
To turn signal, its steer motor drives two-wheeled different rotation angle below, further, makes front wheels and rear wheels meet Ah
Gram graceful theorem, front and rear wheel driving electric car rotates around the center of circle and realizes four-wheel steering pattern.
As shown in Figure 8, when electric motor car carries out diagonal, angular displacement sensor gathers steering wheel angle information, and via controller enters
After row processes, controller sends identical turn signal respectively to front and rear wheel, makes yawing moment and the deflection angle of front wheels and rear wheels
Identical, the turn signal in front-wheel steer electric machines test direction, its steer motor drives above two-wheeled to rotate equal angular and direction；
The turn signal in rear-axle steering electric machines test direction, its steer motor drives two-wheeled below to rotate equal angular and direction, it is achieved
Diagonal pattern.
During as it is shown in figure 9, electric motor car is walked crosswise, angular displacement sensor gathers steering wheel angle information, and via controller enters
After row processes, controller sends identical turn signal respectively to front and rear wheel, makes yawing moment and the deflection angle of front wheels and rear wheels
Identical, the turn signal in front-wheel steer electric machines test direction, its steer motor drives above two-wheeled 90-degree rotation；Rear-axle steering electricity
The turn signal in machine testing direction, its steer motor drives two-wheeled 90-degree rotation below, it is achieved walk crosswise pattern.
As shown in Figure 10, when electric motor car carries out pivot stud, angular displacement sensor gathers steering wheel angle information, through controlling
After device processes, controller sends different turn signal respectively to four wheels, makes the yawing moment of the near front wheel and off hind wheel
Identical, off-front wheel is identical with the yawing moment of left rear wheel.Concrete action is: two front-wheel steer electric machines test directions turn to letter
Number, its steer motor drives above two-wheeled different rotation angle respectively；The turn signal in two rear-axle steering electric machines test directions, drives
Dynamic two-wheeled different rotation angle below, further, makes front wheels and rear wheels meet Ackermam theorem, front and rear wheel driving electric
Car rotates around the center of circle and realizes pivot stud pattern.
Although embodiment of the present utility model is disclosed as above, but it is not restricted in description and embodiment
Listed utilization.It can be applied to various applicable field of the present utility model completely.For those skilled in the art,
It is easily achieved other amendment.Therefore under the general concept limited without departing substantially from claim and equivalency range, this reality
It is not limited to specific details and shown here as the legend with description with novel.
Claims (8)
1. the independent vehicular modular wheel set driven and turn to, it is characterised in that including:
Vehicle frame；
Steer motor, it is fixed on described vehicle frame；And
Subframe, it is formed and accommodates space；Described subframe is rotatably supported on described vehicle frame；Described steer motor defeated
Shaft connects described subframe, and described subframe can be around output shaft rotation；Wherein, the upper end in described receiving space has upwards
The protruding support extended；
Driving motor, it is fixed in described receiving space, is used for driving wheel to rotate；
Column, wheel hub is rotatably supported on described column；Described column has through hole, and the output shaft of described driving motor is worn
Cross described through hole and drive wheel；
Upper suspension swing arm, its two ends are connected to by rubber packing between upper end and the described column in described receiving space；
Lower suspension swing arm, its two ends are connected to by rubber packing between lower end and the described column in described receiving space.
2. the independent vehicular modular wheel set driven and turn to as claimed in claim 1, it is characterised in that described wheel
Assembly also includes: spring cushion assembly, and its two ends are respectively supported between described protruding support and described suspension top link.
3. the independent vehicular modular wheel set driven and turn to as claimed in claim 1, it is characterised in that also include:
Spring cushion assembly, its two ends are respectively supported between described upper end, receiving space and described suspension lower swing arm.
4. the most independent vehicular modular wheel set driven and turn to, it is characterised in that also wrap
Include:
Brake disc, its fixing connection wheel hub；
Caliper, it is fixed on described column, it is possible to the clamping brake disc when braking.
5. the as claimed in claim 4 independent vehicular modular wheel set driven and turn to, it is characterised in that described in turn to
The output shaft of motor is straight down；The bottom of described subframe is rotatably supported on described vehicle frame by rotating shaft, described rotating shaft
Coaxial with the output shaft of described steer motor.
6. the as claimed in claim 5 independent vehicular modular wheel set driven and turn to, it is characterised in that described in drive
The output shaft of galvanic electricity machine is rotatably connected internal spherical cage, and internal spherical cage connects wheel hub by semiaxis.
7. the independent vehicular modular wheel set driven and turn to as claimed in claim 6, it is characterised in that also include
Ring flange and lower flange, described steer motor is fixed on vehicle frame by upper flange plate and lower flange.
8. the independent vehicular modular wheel set driven and turn to as claimed in claim 7, it is characterised in that also include pair
Steering spindle, its output shaft with described steer motor is symmetrically mounted on the upper and lower both sides of subframe, described secondary steering spindle with turn to electricity
Machine output shaft synchronous rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620478979.8U CN205675099U (en) | 2016-05-24 | 2016-05-24 | A kind of independent vehicular modular wheel set driven and turn to |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620478979.8U CN205675099U (en) | 2016-05-24 | 2016-05-24 | A kind of independent vehicular modular wheel set driven and turn to |
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| CN205675099U true CN205675099U (en) | 2016-11-09 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
| CN107215386A (en) * | 2017-05-05 | 2017-09-29 | 清华大学 | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to |
| CN107650678A (en) * | 2017-09-22 | 2018-02-02 | 清华大学 | The chassis system of distributed pure electric vehicle |
| CN108323306A (en) * | 2017-01-19 | 2018-07-27 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot |
| CN108323305A (en) * | 2017-01-19 | 2018-07-27 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot |
| CN108860308A (en) * | 2018-08-09 | 2018-11-23 | 辽宁工业大学 | A kind of omnidirectional's electric drive platform truck |
| CN109664702A (en) * | 2019-02-14 | 2019-04-23 | 浙江亚太机电股份有限公司 | The distributed driving chassis platform of automobile suspension system and four-wheel independent steering |
| CN109677221A (en) * | 2019-02-14 | 2019-04-26 | 浙江亚太机电股份有限公司 | Across the virtual stub suspension system of core wheel |
| CN111645481A (en) * | 2020-06-18 | 2020-09-11 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN113043805A (en) * | 2021-04-23 | 2021-06-29 | 清华大学 | Multi-connecting-rod suspension structure applied to four-wheel independent control electric vehicle |
| CN113353176A (en) * | 2021-07-19 | 2021-09-07 | 上汽通用五菱汽车股份有限公司 | Double-cross-arm independent suspension device of rear-drive electric vehicle |
| CN113459744A (en) * | 2021-08-13 | 2021-10-01 | 广东天太机器人有限公司 | Double-rocker independent suspension, steering and walking integrated assembly |
| CN114701565A (en) * | 2022-05-27 | 2022-07-05 | 北京理工大学 | Four-wheel steering independent wheel steering driving device and control method thereof |
| CN114906250A (en) * | 2022-05-17 | 2022-08-16 | 托特斯智行科技(焦作)有限公司 | Heavy-load unmanned carrier loader |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
| CN105882741B (en) * | 2016-05-24 | 2018-06-05 | 辽宁工业大学 | A kind of independent vehicular modular wheel set and rear-axle steering control method driven with turning to |
| CN108323306A (en) * | 2017-01-19 | 2018-07-27 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot |
| CN108323305A (en) * | 2017-01-19 | 2018-07-27 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot |
| CN107215386A (en) * | 2017-05-05 | 2017-09-29 | 清华大学 | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to |
| CN107650678A (en) * | 2017-09-22 | 2018-02-02 | 清华大学 | The chassis system of distributed pure electric vehicle |
| CN107650678B (en) * | 2017-09-22 | 2021-08-17 | 清华大学 | Chassis system of distributed pure electric vehicle |
| CN108860308A (en) * | 2018-08-09 | 2018-11-23 | 辽宁工业大学 | A kind of omnidirectional's electric drive platform truck |
| CN109677221A (en) * | 2019-02-14 | 2019-04-26 | 浙江亚太机电股份有限公司 | Across the virtual stub suspension system of core wheel |
| CN109664702A (en) * | 2019-02-14 | 2019-04-23 | 浙江亚太机电股份有限公司 | The distributed driving chassis platform of automobile suspension system and four-wheel independent steering |
| CN109664702B (en) * | 2019-02-14 | 2024-05-10 | 浙江亚太机电股份有限公司 | Automotive suspension system and four-wheel independent steering distributed driving chassis platform |
| CN111645481A (en) * | 2020-06-18 | 2020-09-11 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN111645481B (en) * | 2020-06-18 | 2022-01-28 | 齐鲁工业大学 | Transverse stabilization reinforcing apparatus based on hub motor and semitrailer |
| CN113043805A (en) * | 2021-04-23 | 2021-06-29 | 清华大学 | Multi-connecting-rod suspension structure applied to four-wheel independent control electric vehicle |
| CN113353176A (en) * | 2021-07-19 | 2021-09-07 | 上汽通用五菱汽车股份有限公司 | Double-cross-arm independent suspension device of rear-drive electric vehicle |
| CN113459744A (en) * | 2021-08-13 | 2021-10-01 | 广东天太机器人有限公司 | Double-rocker independent suspension, steering and walking integrated assembly |
| CN114906250A (en) * | 2022-05-17 | 2022-08-16 | 托特斯智行科技(焦作)有限公司 | Heavy-load unmanned carrier loader |
| CN114701565A (en) * | 2022-05-27 | 2022-07-05 | 北京理工大学 | Four-wheel steering independent wheel steering driving device and control method thereof |
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