1024results about "Non-deflectable wheel steering" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

Tracked vehicles include a track assembly, a powertrain assembly to power the track assembly, and a steering assembly configured to provide a torque to the track assembly. A steering motor is operably coupled to the powertrain assembly to effectuate a steering of the vehicle. A backup steering assembly is configured to provide backup steering capability to the tracked vehicle. The tracked vehicle also includes a plurality of steering modes, as well as a plurality of suspension components configured to increase rider comfort.

The invention relates to the technical field of orchard automatic navigation deviation correction, in particular to an automatic navigation deviation correction system for an orchard track power platform. Comprising a chassis, a vehicle control unit, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotating speed sensor, an edge architecture control box, a driving wheel assembly, a servo valve and a steering pump. The mode that the whole vehicle controller regulates and controls the servo valve to conduct deviation rectification is adopted, the deviation rectification response speed is high, the control precision is high, the high-speed operation working condition of the orchard power platform can be adapted, and the operation efficiency is improved; the swash plate plunger steering pump is adopted to drive the steering motor, the driving power is small, the heat balance stability is good, and the cost is low; the differential steering mechanism is adopted as a deviation rectifying executing mechanism, the transmission efficiency of the power platform is not affected, the steering line type is controllable, steering is stable, the overcorrection phenomenon is effectively avoided, the automatic navigation operation precision is effectively improved, and the automatic navigation deviation rectifying stability of the orchard power platform is improved.

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

Provided are a deformable tracked pipeline robot, and a differential turning method thereof. The deformable tracked pipeline robot includes a robot main body. Three tracked foot modules in a circular array are arranged on an outer side surface of the robot main body, each tracked foot module is connected to the robot main body through a center variable-diameter module. A spacing between the tracked foot module and the robot main body can be adjusted through the center variable-diameter module, making all three tracked foot modules in contact with an inner wall of a pipeline. According to a differential turning method based on space curve measurement, the pipeline robot can pass through pipelines with various curvature radii. A pipeline axis is measured by a Charge Coupled Device camera module as a bending curvature of a space curve. The accuracy of space curve fitting is improved by a recursive algorithm.

The invention discloses a dual-mode steering cooperative control method and system for a five-axis heavy-load AGV, and the method comprises the following steps: obtaining the state information of the five-axis heavy-load AGV, including the vehicle speed, the path trajectory curvature and the obstacle distance; according to the obtained state information, a scene working condition is judged, a five-axis heavy-load AGV steering mode is decided according to the scene working condition, and a steering mode switching command is sent to a bottom layer controller; the steering mode comprises a pivot steering mode and a rear wheel active coordination steering mode; the bottom layer controller is used for controlling a hub motor and a steering motor; the bottom layer controller calculates the linear speed and the angular speed required by each wheel of the five-axis heavy-load AGV in the corresponding steering mode, and motion parameters are generated; the motion parameters are converted into reference control quantities to be sent to a bottom layer controller, the bottom layer controller adjusts the corresponding motor rotating speed in real time through IMU feedback and a PID control method, and the five-axis heavy-load AGV is driven to conduct steering motion coordination control.

The embodiment of the invention provides a steering method, a steering control device, a control system, computing equipment and a vehicle, and is applied to the technical field of vehicle control. According to the embodiment of the invention, the first front wheel of the vehicle can be controlled to be static relative to the vehicle, the first rear wheel and the second rear wheel of the vehicle are driven to rotate, and the driving directions of the first rear wheel and the second rear wheel are controlled to be opposite, so that the vehicle steers around the first front wheel. The vehicle can rotate around the first front wheel to achieve steering under the condition that a steering system and a driving mode of the vehicle are not changed, the steering capacity of the vehicle can be improved, the flexibility and the passing ability of the vehicle are improved, and the vehicle can better cope with a narrow parking environment.

A riding lawn care vehicle is provided that includes a steering assembly including control levers that are independently movable to control respective motors to drive wheels and steer the riding lawn care vehicle in a direction of travel. The riding lawn care vehicle includes processing circuitry configured to implement a straight-line tracking in which the processing circuitry is configured to track the direction of travel of the riding lawn care vehicle. The processing circuitry is configured to perform a comparison of the direction of travel with a set direction to determine an alignment of the riding lawn care vehicle that indicates whether the riding lawn care vehicle is maintaining a straight line in the set direction. And the processing circuitry is configured to cause at least one output device to provide feedback that conveys the alignment of the riding lawn care vehicle to an operator.

To effectively use a detection range of a potentiometer when detecting an operation position of an artificial operation tool is detected by a potentiometer in a work vehicle.SOLUTION: A work vehicle comprises: an artificial operation tool 12 that can swing around a first shaft core P1; and a potentiometer in which a free end of a detection arm 25b that can swing around a second shaft core P2 along the first shaft core P1 is connected to the artificial operation tool 12. Since the detection arm 25b is operated around the second shaft core P2 in conjunction with the artificial operation tool 12 operated around the first shaft core P1, the potentiometer detects an operation position of the artificial operation tool 12. In a first length L1 from the first shaft core P1 to a connection portion 21e between the free end of the detection arm 25b and the artificial operation tool 12 and a second length L2 from the second shaft core P2 to a connection portion 21e between the free end of the detection arm 25b and the artificial operation tool 12, the second length L2 is shorter than the first length L1.SELECTED DRAWING: Figure 7

A leg assembly includes a guide tube, a power drive coupled to a flange of the guide tube, a steering ring coupled to the power drive, a tube weldment coupled to the steering ring, and a hydraulic actuator coupled within the guide tube and within the tube weldment. The power drive includes a slew drive or a hydraulic cylinder steering assembly. The tube weldment is translated through the power drive by the actuator. The steering ring includes one or more pistons by which relative rotational movements may be imparted to the tube weldment by a socketing action. The steering ring is rotated by the power drive. Thus, the guide tube may be rotated relative to the tube weldment.

A vehicle control method, a multi-purpose vehicle, and a garden work vehicle, capable of ensuring an accurate response to a manipulation intention of a user, and optimizing user experience. The multi-purpose vehicle comprises a driving mechanism, a manipulation mechanism, and an auxiliary control mechanism. The auxiliary control mechanism comprises: a manipulation state sensing assembly, used for determining a manipulation state of a user for the manipulation mechanism, the manipulation state comprising a linear manipulation state and a non-linear manipulation state; a running state sensing assembly, used for determining a running state of a multi-purpose vehicle, the running state comprising a linear running state and a non-linear running state; and a calibration controller assembly, used for determining, when the running state does not match the manipulation state, that the multi-purpose vehicle is abnormally running, wherein the calibration controller assembly is further used for adjusting an operating state of the driving mechanism after determining that the multi-purpose vehicle is abnormally running, so as to enable the running state to match the manipulation state.

The invention relates to the technical field of engineering machinery, and discloses a wheel-track composite steering hydraulic control system, a control method and an engineering vehicle. The wheel-track composite steering hydraulic control system comprises an oil supply module, a tire steering module, a track steering module and a control module. The tire steering module comprises a steering valve group and at least two wheel type steering oil cylinders, the steering valve group is connected with the oil supply module and the at least two wheel type steering oil cylinders, and the oil supply module supplies hydraulic oil to each wheel type steering oil cylinder through the steering valve group; the crawler steering module comprises a closed pump, a crawler walking motor and a first angle detection module, the closed pump is connected with the crawler walking motor, and the first angle detection module is used for detecting the rotating angle of a steering wheel. Free switching between wheel steering and track steering can be achieved through one system, the system structure is simplified, operation is more convenient, and the maintenance cost is low.

The invention relates to a magnetic adsorption walking robot with obstacle crossing and steering functions. The magnetic adsorption walking robot comprises a controller, a rack, a turntable mechanism, at least one magnetic adsorption crawler belt, at least three sets of supporting mechanisms, at least one magnetic isolation mechanism and at least one traction mechanism, supporting mechanisms are at least arranged at the front end, the rear end and the middle position of the rack, each supporting mechanism comprises a supporting driving assembly and at least two walking wheels, and the supporting driving assemblies can drive the walking wheels to stretch out of the adsorption faces of the magnetic adsorption crawler belts; the magnetism isolating mechanisms are arranged on the rack, each magnetic adsorption crawler belt corresponds to at least one magnetism isolating mechanism, and the magnetism isolating mechanisms are used for isolating the adsorption surfaces of the magnetic adsorption crawler belts from the working surfaces; the fixed part of the turntable mechanism is arranged on the rack, the traction mechanism is connected with the rotating part of the turntable mechanism and the top and the bottom of the working surface, and the traction mechanism can pull the rack to walk on the working surface. The robot has good obstacle crossing and steering capabilities, and can adapt to more complex working environments.

A method for steering correction in a mobile machine having at least one ground-engaging device including one or more tracks or one or more wheels includes detecting a steering request with an electronic control unit, the steering request being generated by an input device configured to control steering of the mobile machine. The method also includes determining that the steering request is a request to propel the mobile machine in a straight path and determining, during travel of the machine, an amount of deviation of the mobile machine from the straight path. The method further includes generating an adjusted steering command based on the amount of deviation from the straight path.

A vehicle control device includes a target value setting unit that sets a target vehicle speed and a target yaw rate, a correction value calculation unit that calculates, in the case it is determined that the vehicle is in an understeering state, a correction value for correcting the target vehicle speed based on a deviation, a target vehicle wheel speed setting unit that sets target vehicle wheel speeds of a left driving wheel and a right driving wheel based on the target vehicle speed, the target yaw rate, and the correction value, and a rotational speed control unit that controls a rotational speed of the left driving motor based on the target vehicle wheel speed of the left driving wheel, and controls a rotational speed of the right driving motor based on the target vehicle wheel speed of the right driving wheel.

An electric crawler vehicle includes a pair of left and right traveling crawlers, a traveling electric motor that generates traveling power to be transmitted to the pair of left and right traveling crawlers, and a turning electric motor that generates turning power to be transmitted to the pair of left and right traveling crawlers. The traveling electric motor and the turning electric motor are disposed on one lateral side of the vehicle.

The active differential type steering driver is characterized by comprising a box body, a main shaft, a first output half shaft, a first planetary gear mechanism, a second output half shaft, a second planetary gear mechanism, a steering input shaft, a first worm, a second worm and a power input shaft. The first planetary gear mechanism is rotatably arranged on one side of the box body, first worm gear teeth are arranged on the outer side of the first planetary gear mechanism, one end of the first planetary gear mechanism is connected with one end of the main shaft, and the other end of the first planetary gear mechanism is connected with the first output half shaft; the first worm is rotatably arranged on the box body, one end of the first worm is provided with a first worm gear meshed with the first worm gear, and the other end of the first worm is provided with a second gear meshed with the first gear; and the power input shaft is rotatably arranged on the box body and is connected with the main shaft through a transmission mechanism. The problems that a traditional steering mechanism is large in steering angle and discontinuous in steering are solved, and in-situ steering is achieved.

A bulldozer includes a control unit for controlling left and right steering clutches and left and right steering brakes, thereby executing a turning control of the vehicle. The control unit switches between a clutch control and a brake control on the basis of a differential between an actual turning radius and a target turning radius.

A drivetrain assembly of a power machine can include a motor sub-assembly. The motor sub-assembly can include a bearing carrier, a reduction assembly, and an electric motor. The bearing carrier can be configured to be fixedly attached at an outboard side to a first lateral side of a frame of the power machine to operably transmit rotational power to at least one tractive element of the power machine. An outboard side of the reduction assembly can be fixedly attached to an inboard side of the bearing carrier. An inboard side of the electric motor can be fixedly attached to the outboard side of the reduction assembly and the electric motor can be configured to operably transmit the rotational power to the bearing carrier via the reduction assembly. At least part of the electric motor can laterally overlap with the bearing carrier.

A snow removal utility machine includes a frame having a front end and a rear end, a prime mover supported by the frame, a skid steer drive assembly operably coupled to the prime mover, and one or more ground engaging elements supporting the frame with respect to a ground surface. The ground element being operable under the influence of the skid steer drive assembly to move the utility machine over the ground surface. A brine assembly coupled to the frame and has one or more fluid tanks. The one or more fluid tanks extend around at least three sides of the prime mover.

The bulldozer has a right first oil channel, a right second oil channel, and a right third oil channel. The right first oil channel guides a portion of the lubricating oil discharged by a hydraulic pump to a right steering brake. The right second first oil channel guides a portion of the lubricating oil discharged by the hydraulic pump to a right planetary gear mechanism. The right third oil channel guides at least a portion of the lubricating oil that has passed through the right planetary gear mechanism to a right steering brake. At least a portion of the planetary gear mechanism is disposed further inside than the right steering brake in a radial direction perpendicular to the center axis of an input shaft.

A drivetrain assembly for a vehicle having a propulsion system configured to drive first and second half shafts is provided. In one example, the drivetrain assembly includes a gearbox assembly configured to couple to the propulsion system, a planetary gear set selectively coupled to an output of the gearbox assembly, and a differential having a differential case, the differential configured to operably couple to the first and second half shafts. The drivetrain assembly operates in a tank steer mode by selectively grounding the differential case and connecting the output of the gearbox assembly to the first half shaft via the planetary gear set, such that the propulsion system rotates the first half shaft in the first direction and, via the differential, rotates the second half shaft in the opposite second direction.

The invention relates to a steering device (19) comprising a steering gear (35) and an electric machine (39) which can be operated both as an electric motor and as a generator, the steering gear (35) having a first input shaft (36), a second input shaft (37) which is connected (39) to the electric machine, a neutral shaft (18), and a superposition stage (40) which has a first element (45), a second element (46), and a third element (47). At the superposition stage (40), a rotational movement of the first element (45) can be converted into a rotational movement of the third element (47) by superimposing a rotational movement of the second element (46), and by means of the superimposition in the steering gear (35), at least one steering ratio can be expanded to a continuously adjustable steering ratio range.In this case, the at least one steering ratio lies in terms of value between respective ends of the respective steering ratio range, wherein, during the superposition, starting from the at least one steering ratio, the widening takes place in the direction of one end of the respective steering ratio range in the generator operation of the electric machine (39) and in the direction of the other end of the respective steering ratio range in the electromotor operation of the electric machine (39).

Provided are a vehicle control method, a multi-purpose vehicle, and a garden work vehicle. The multi-purpose vehicle includes a drive mechanism, a control mechanism, and an auxiliary control mechanism. The auxiliary control mechanism includes: a control state sensing component, configured to determine a control state of a user with respect to the control mechanism; a traveling state sensing component, configured to determine the traveling state of the multi-purpose vehicle, the traveling state including a straight-line traveling state and a non-straight-line traveling state; and a calibration controller component, configured to determine that the multi-purpose vehicle is traveling abnormally in response to a mismatch between the traveling state and the control state. The calibration controller component is further configured to adjust, in response to determining that the multi-purpose vehicle is traveling abnormally, the operating state of the drive mechanism to match the traveling state with the control state.

A three-wheeled vehicle and a steering control method and apparatus therefor. In the control method, a target steering angle of a steerable wheel (5) during differential steering and a steering vehicle speed of a three-wheeled vehicle are acquired; the target steering angle and the steering vehicle speed are input into a speed calculation model, so as to obtain a first steering speed of a first driving wheel (102), a second steering speed of a second driving wheel (104) and an angular velocity of a vehicle chassis; on the basis of the angular velocity, a steering curve of the steerable wheel (5) is determined; and since the steering curve is a curve of a deflection angle of the steerable wheel (5) changing over steering time, and on the basis of the first steering speed and the second steering speed, the first driving wheel (102) and the second driving wheel (104) can be controlled to implement differential steering, and on the basis of the steering curve, the steerable wheel (5) can be controlled to deflect along with the differential steering .

The invention relates to the technical field of mechanical control, in particular to a caterpillar tractor turning radius control method and system.The caterpillar tractor turning radius control method comprises the following steps that based on tractor caterpillar size data, behaviors of a tractor caterpillar on various terrains are simulated and analyzed, and the contact effect and stress distribution of the caterpillar on various ground materials are calculated; and generating a track behavior simulation result. According to the method, by analyzing behaviors of the tractor track on various terrains, understanding of the contact effect and stress distribution between the track and the ground materials is optimized, performance prediction of the track on different ground materials is more accurate, compensation parameters needed by turning are calculated in combination with mechanical performance parameters, and the accuracy of the track performance prediction is improved. The torque and the speed of the crawler belt are adjusted according to actual conditions, the adaptive capacity and the operation accuracy of the tractor in complex terrains are improved, turning parameters are monitored and adjusted in real time, the yaw angle and the path deviation are recognized and corrected in time, errors and the adjustment time in operation are reduced, and the operation efficiency and the maneuverability of the tractor are improved.

An electrical passenger car, the electrical passenger car including: a battery pack; motor control electronics; a communication control unit; at least one electrically driven motor; wheels, where the wheels are connected to the at least one electrically driven motor; and sensors, where the sensors are connected to at least the motor control electronics, where the wheels include a first wheel and a second wheel, where the second wheel has a radius at least 7% greater than a radius of the first wheel, where the battery pack is mounted in the electrical passenger car frame such that the battery pack could be moved forward or backward, where the communication control unit is designed to communicate the motor control electronics with a cloud AI server, and where the electrical passenger car is designed to be driven on a paved road.

A garden tool includes a control assembly, an operating mechanism, a first wheel and a second wheel. The operating mechanism is provided with a detection device for detecting a displacement of the operating mechanism. The calibration method of the disclosure includes: receiving a deviation correction command; comparing an extremum rotating speed of the first wheel with an extremum rotating speed of the second wheel; and when there is a difference between the extremum rotating speed of the first wheel and the extremum rotating speed of the second wheel, correcting a relationship between an output signal of the detection device and an output rotating speed of the control assembly to enable the extremum rotating speed of the first wheel to be the same as the extremum rotating speed of the second wheel.

The utility model discloses an all-terrain attitude-adjusting profiling mobile chassis, and relates to the technical field of harvesting agricultural machinery. The chassis comprises a chassis body, a front driving axle mechanism and a rear driving axle mechanism, walking wheels are four triangular crawler wheels, the contact area is large, the grounding specific pressure is small, the anti-sinking capacity is high, the left front triangular crawler wheel and the left rear triangular crawler wheel are synchronous, and the right front triangular crawler wheel and the right rear triangular crawler wheel are synchronous. Differential turning or turning with opposite directions of crawler wheels on two sides and in-situ turning can be realized during turning, and the turning radius is small, so that the equipment can steer in a narrow space, and the turning is flexible.