5102results about "Resilient suspensions" patented technology

Methods of performing a dispatched logistics operation for delivery / pickup of items using a modular autonomous bot apparatus assembly (with a modular autonomy module, cargo storage system, auxiliary power module, and mobility base) and a dispatch server. The modular autonomy control module receives a dispatch command from the dispatch server and authenticates that each of the modular components in the assembly are compatible with the particular dispatched logistics operation. The bot assembly receives the transported item, autonomously moves from an origin location to a destination per the dispatch command using the mobility base autonomously controlled by the modular autonomy control module, receives authentication input that at least correlates to authentication information in the dispatch comment to allow selective access to the modular cargo storage system of the bot assembly, and then autonomously returns to the origin after the item is detected removed from the cargo storage system.

The invention provides an intelligent suspension control system based on complex road condition recognition, and relates to the technical field of suspension control. The system comprises a data acquisition module, a theoretical adjustment calculation module, an adjustment map generation module, a dynamic adjustment generation module and a real-time monitoring module. The data acquisition module generates structured road condition suspension matching data. The theoretical adjustment calculation module calculates a theoretical suspension adjustment reference value. The adjustment map generation module generates an initial suspension adjustment map. The dynamic adjustment generation module obtains a dynamic suspension adjustment map of the driving task. And the real-time monitoring module monitors the intelligent suspension control in real time. Various complex road conditions are recognized and classified through semantic analysis, an accurate road condition basis is provided, a theoretical adjustment reference value is calculated, meanwhile, a self-adaptive correction factor matrix is introduced, the adjustment reference and the fault-tolerant bandwidth are dynamically adjusted according to the real-time posture of the vehicle, vehicle body vibration and suspension air pressure, stable control is guaranteed, and the control accuracy is improved. And dynamic balance between comfort and controllability is realized.

The invention discloses a temperature compensation method and system, and the method comprises the steps: receiving a valve block temperature signal collected by a temperature sensor integrated with a pressure sensor in a closed gas supply unit, and an electronic element temperature and environment temperature signal collected by a temperature sensor on a control unit PCB, generating an initial temperature-working condition data set by combining the power of the air pump and the working duration of the electromagnetic valve; performing thermal resistance network modeling on the initial temperature-working condition data set, constructing a multi-node thermal characteristic matrix, and decomposing the matrix into a plurality of sub-matrixes; performing real-time operation on the sub-matrix by using a dynamic heat balance algorithm to generate a temperature estimation result of the key component; and generating a temperature compensation control instruction according to the temperature estimation result of the key component. According to the embodiment of the invention, the temperature of the key component can be accurately estimated, dynamic compensation is realized, and the control precision and stability of the closed gas supply unit are improved.

The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

Active suspension actuator systems including an actuator with a compression volume and an extension volume are described. In some embodiments, the system includes one or more flow control devices in fluid communication with the compression volume and / or the extension volume of the actuator. In some instances, a flow control device may include a pressure balanced blow-off valve (PBOV). In some embodiments, the system includes a high capacity bidirectional base valve. In some embodiments, two or more flow control devices cooperate to, for example, damp low amplitude oscillations in the extension and / or compression volumes, and to allow the build-up of pump generated differential pressures while discharging rapid road induced differential pressure spikes between the extension and compression volumes.

According to the mass center self-balancing chassis system for U-rib weld defect detection and the control method, the problem that when detection equipment moves on a U-rib curved surface, the precision is reduced due to mass center deviation and view field inclination can be solved. The system integrates a Mecanum wheel omni-directional moving unit, four groups of electric telescopic supporting legs, a two-axis holder and an ECU (electronic control unit), and has the innovation point that dynamic mass center balance and posture self-correction are realized through rigid-flexible combined supporting leg design and multi-modal sensing fusion. The ECU adopts an improved Canny algorithm to process the image, extracts a U rib edge point set and fits a reference center; in combination with pressure and tilt angle sensor data, a real-time mass center is solved through a moment balance formula, and then an improved self-adaptive PID algorithm is used for driving the supporting legs to stretch out and draw back, so that the mass center returns to a reference center; the two-axis holder compensates the view field angle according to the inclination angle data to ensure that the view field angle is perpendicular to the weld joint. Through cooperation of a mechanical structure and an algorithm, the system can control centroid offset to be smaller than or equal to 5 mm and view field inclination to be smaller than or equal to 1 degree, the detection stability and precision are remarkably improved, and the algorithm is easy to deploy.

The invention relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The invention discloses an intelligent self-adaptive vehicle suspension system based on deep learning and a control method, and belongs to the technical field of vehicle suspensions.The system comprises a quantum state collaborative sensing module, a Lie group road condition prediction module, a topology invariant optimization module and a dual closed-loop control module; the quantum state collaborative perception module realizes multi-sensor deep fusion based on a quantum state entanglement theory, the fusion precision is improved by more than 40%, the Lie group road condition prediction module establishes a road surface dynamic evolution model by using a special Euclidean group SE (3), the prediction precision is improved by 45%, and the topology invariant optimization module extracts road surface topology invariants through continuous coherence, so that the road surface dynamic evolution model is optimized. The suspension parameters are optimized on the octyl manifold, the convergence speed is increased by 60%, the dual closed-loop control module constructs a forward prediction and backward correction double closed loop, the response time is shortened to 15 milliseconds, and the comfort and controllability of the vehicle are remarkably improved.

The invention belongs to the technical field of active suspension control, and particularly relates to an active suspension control method and system based on Skhook-ADRC-FFORC. According to the method, key parameters are obtained by establishing a 1 / 4 vehicle suspension dynamical model, a state space model is constructed, active disturbance suppression control is introduced on the basis, and the stability of the vehicle suspension is improved. Real-time estimation and compensation of vehicle body displacement and total disturbance of a system are realized, fractional order sliding mode control is combined, a fractional order sliding mode surface is constructed by using a Caputo operator, high robustness and smoothness are considered, the buffeting problem of a traditional sliding mode is suppressed, and finally, the high-frequency vibration isolation advantage of Skyhook control and the anti-interference capability of ADRC-FFORC are subjected to weighted fusion. The problems that in the prior art, model simplification and control distortion are caused, and a single strategy cannot give consideration to multi-target performance are solved, and by fusing ADRC, FOSMC and Skyhook control and realizing adaptive weighted switching, the robustness, smoothness and real-time performance of the active suspension under complex working conditions are effectively improved, so that collaborative optimization of vehicle comfort and safety is realized.

The invention is suitable for the technical field of automobile chassis, and provides an angle module system and a modular extensible chassis, and the angle module system adopts an unequal-length double-wishbone suspension and has good geometric kinematics characteristics. And the offset distance of the main pin is reasonably controlled through the design of steering knuckle parts. By adopting the angle module bracket, the efficient integration of the driving unit and the frame structure is realized, the number of connecting points of the angle module system and the chassis is reduced, and the serialization, integration and modularization of the chassis system are facilitated. A distributed main pin steering gear is adopted, and the geometrical shape design of upper and lower control arms of the suspension is matched, so that wheels have a larger turning angle range, and the maneuverability is improved. In addition, the modular extensible chassis adopts modular design, and the number of shafts can be flexibly configured according to carrying requirements.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The application discloses an intelligent electric chassis configuration and a fault-tolerant control method of the intelligent electric chassis, and relates to the technical field of electric chassis. The chassis configuration comprises a front axle centralized motor drive assembly, a rear axle distributed motor drive assembly, a front axle electronic hydraulic brake system, a rear axle electronic mechanical brake system and a chassis domain controller. The front axle centralized motor drive assembly comprises a centralized drive motor, a front wheel speed reducer and a drive half shaft which are sequentially connected. The rear axle distributed motor drive assembly comprises a left rear wheel end drive motor and a left rear wheel speed reducer which are sequentially connected, and a right rear wheel end drive motor and a right rear wheel speed reducer which are sequentially connected. The front axle electronic hydraulic brake system comprises a first main brake unit and a redundant brake unit. The rear axle electronic mechanical brake system comprises a second main brake unit. The chassis domain controller is used for controlling the centralized drive motor, the left and right rear wheel end drive motors, the first main brake unit, the redundant brake unit, the second main brake unit, a front axle steer-by-wire system, an intelligent suspension system and an intelligent tire. The application can improve the chassis safety and fault-tolerant capability to support high-level automatic driving functions.

A suspension system (400) for supporting a chassis (200) of a vehicle (100). The suspension system (400) comprises a suspension unit (442). The suspension unit (442) comprises a wheel arm assembly (444) comprising a first wheel arm (402) having a chassis mount end (410) and a wheel mount end (412). The chassis mount end (410) of the first wheel arm (402) are provided with a chassis mounting member (414), the chassis mount end (410) of the first wheel arm (402) and chassis mounting member (414) being pivotable relative to one another around a chassis mount pivoting axis (230). The chassis mounting member (414) is configured to support the chassis mount end (410) of the first wheel arm (402) so that the first wheel arm (402) and chassis mounting member (414) are operable to pivot 180 degrees relative to one another about the chassis mount pivoting axis (230).

The invention relates to a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps of determining an elevation curve and a road surface type of a driving track in front of a vehicle based on image information acquired in a vehicle driving process; if the road surface type of the front driving track is a special road surface, determining whether a front axle and / or a rear axle of the vehicle is driven into a special road surface area or not according to the running parameters and the static parameters of the vehicle; under the condition that a front axle and / or a rear axle of the vehicle is driven into a special road surface area and the special road surface is a pulse disturbance road surface, the vertical movement distance of a front axle electromagnetic suspension and / or a rear axle electromagnetic suspension of the vehicle is determined based on the elevation curve and the motion parameters of the vehicle; and according to the vertical movement distance of the front axle electromagnetic suspension, a front axle linear motor of the vehicle is controlled to output first control force, and / or according to the vertical movement distance of the rear axle electromagnetic suspension, a rear axle linear motor of the vehicle is controlled to output second control force, so that adjustment of the vehicle electromagnetic suspension is achieved, and the riding comfort is improved.

A length-adjustable shock absorber includes a tubular body and an adjusting cylinder. The tubular body has one end formed with threads to form a threaded section. The threaded section is interrupted in an axial direction by at least one recessed groove. The adjusting cylinder is threadedly connected to the threaded section and has at least one through hole. The through hole is rotated along with the adjusting cylinder to face the recessed groove. A locking lever is pivotally connected outside the through hole. The locking lever is pivotable between a locking position and an unlocking position. When the locking lever is pivoted to the locking position, it is engaged in the recessed groove to lock the adjusting cylinder. When the locking lever is pivoted to the unlocking position, it is disengaged from the recessed groove to unlock the adjusting cylinder.

The invention relates to the technical field of automobile dynamics control, in particular to an ambulance suspension intelligent agent based on deep reinforcement learning and an optimization method thereof, and the optimization method comprises the steps: S1, initializing an evaluation network and a control strategy network; s2, adopting a swarm intelligence algorithm to initialize a population; s3, the number M of evolution generations of the controller and the time step T of each generation are set, in each time step, the initial fitness of the controller is set to be 0, and the fitness of the controller is updated according to the reward value and the auxiliary reward of the current time step; s4, after each intergeneration is finished, updating the population according to the fitness by adopting a swarm intelligence algorithm, and training the evaluation network and the control strategy network to update network parameters; and S5, after M generations of evolution are completed, screening out the controller with the highest fitness from the controllers, and setting the network parameters corresponding to the controller in the control strategy network. The invention is at least beneficial to improving the adaptability of the ambulance to different working conditions.

The utility model discloses a controller, a suspension system, a mounting structure, a vehicle body and a vehicle. The controller is applied to the suspension system, the controller is suitable for being arranged in a mounting cavity defined by a vehicle body dash panel, a first cover plate and a second cover plate, and the controller is detachably connected to the first cover plate. In this way, the controller is installed through the space in the installation cavity, the situation that the controller occupies the space of the axle is avoided, and arrangement of other structures on the axle is facilitated.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The invention relates to an active suspension control method and device of a corner module vehicle, computer equipment and a readable storage medium. The method comprises the following steps: acquiring vehicle state parameters and attribute information; according to the vehicle state parameters, the attribute information and preset anti-rollover constraints, the anti-rollover moment and the suspension total active force in the current vehicle state are determined; distributing the control force corresponding to each suspension based on a preset optimization target, the anti-rollover moment and the total active force of the suspension to obtain a target control force corresponding to each suspension; the target control force is used for performing active suspension control on each suspension. By adopting the method, the accuracy of anti-rollover control can be improved, and the safety of the angle module vehicle is improved.

The invention discloses an integrated electronic control type automobile chassis suspension control system, which relates to the technical field of image recognition, and comprises a data acquisition module for acquiring vehicle state data, road surface data and driving behavior data in real time; the AI prediction module is used for extracting spatial features based on the road surface data; inputting an improved LSTM time sequence feature based on a vehicle state and a driving behavior to extract a time sequence feature, splicing the spatial feature and the time sequence feature, and inputting the spliced spatial feature and time sequence feature into a full-connection network to predict a suspension control parameter; the improved LSTM time sequence features are obtained based on a GRU unit in combination with an LSTM model; the suspension control parameters comprise optimal damping force, target suspension height and vibration increment prediction; and the control execution module constructs a comfort evaluation index based on the suspension control parameters, introduces deep reinforcement learning to optimize the suspension control parameters based on the comfort evaluation index, reinforces road surface key space feature extraction, and accurately focuses abnormal areas such as potholes, bulges and the like.

The invention discloses a constant-force vibration reduction mechanism and a robot, and belongs to the technical field of specialized robots, the constant-force vibration reduction mechanism comprises at least two vibration reduction units arranged on a base and a plurality of driving wheels consistent with the vibration reduction units; the vibration reduction unit comprises a rotating support and a constant force component. The rotating bracket is rotatably connected with the base; the rotating bracket is respectively connected with the driving wheel and the constant force component; the constant force component is used for applying counter-acting force to the base, and it is guaranteed that the base and an upper structure of the base are kept stable in the vertical direction in the moving process. According to the constant-force vibration reduction mechanism and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

This invention discloses a mobile mechanism and a mobile robot incorporating the same. The mobile mechanism includes a housing, a slide, a moving wheel, a pressing part, and a deformable part. A guide part is provided within the housing. The slide is mounted on the guide part and can move along it. The moving wheel is fixed to the slide and partially protrudes from the surface of the housing. The pressing part presses against the slide, causing the slide to move towards the surface of the housing. The deformable part is mounted on the housing and connected to the pressing part, providing a force to the slide towards the housing surface during deformation. This invention allows the robot to move on different types of work surfaces. Especially when encountering obstacles, the pressing part provides a downward force to the slide, maximizing the proximity of the moving wheel to the work surface and generating friction, enabling the mobile robot to move and move away from obstacles.

A method and apparatus are disclosed that assist a user in performing proper setup of a vehicle suspension. A user may utilize a device equipped with an image sensor to assist the user in proper setup of a vehicle suspension. The device executes an application that prompts the user for input and instructs the user to perform a number of steps for adjusting the suspension components. In one embodiment, the application does not communicate with sensors on the vehicle. In another embodiment, the application may communicate with various sensors located on the vehicle to provide feedback to the device during the setup routine. In one embodiment, the device may analyze a digital image of a suspension component to provide feedback about a physical characteristic of the component.

A suspension assembly for a vehicle having a first suspension coupled to a frame of the vehicle by a plurality of mounting brackets. The suspension assembly includes an adaptor having a plurality of mounting portions configured to align with and be coupled to the plurality of mounting brackets of the frame. A method for modifying a suspension of a vehicle includes uncoupling a first suspension from mounting brackets secured to a frame of the vehicle, coupling adaptors to the mounting brackets, and coupling a second suspension to the adaptors.

The multi-directional controllable suspension system comprises a linear electromagnetic vibration reduction assembly and an arc-surface electromagnetic vibration reduction assembly, when the multi-directional controllable suspension system is used, when a vehicle frame at the lower end vibrates vertically, a first guide rod moves in the axial direction of an outer cylinder, and a cylindrical electromagnetic coupling unit fixed to the first guide rod moves between an outer permanent magnet array and an inner permanent magnet array; when the vehicle body inclines laterally or twists, the outer cylinder rotates around the hinged point of the outer cylinder and the lower end vehicle frame, the cambered surface electromagnetic coupling unit is driven to deflect between the upper permanent magnet array and the lower permanent magnet array, the gradient magnetic field is cut to generate resistance moment, and vibration is reduced. The first elastic piece and the second elastic piece provide elastic restoring force for the upper permanent magnet array and the lower permanent magnet array correspondingly to cooperatively inhibit side inclination and torsion, so that multi-dimensional vibration reduction in the horizontal direction is achieved, and the dynamic stability of the vehicle is improved.

A modular hydraulically-adjustable preload and / or cross-over system. The system includes a housing configured to couple with a main damper cylinder, the housing including a slave cylinder within a portion of a slave cylinder chamber, the slave cylinder telescopically movable with respect to the housing; a fluid chamber; and a fluid port configured to provide a fluid flow for the fluid chamber, wherein an increase in a fluid volume within the fluid chamber causes a portion of the slave cylinder to telescopically extend from the slave cylinder chamber. A preload flange coupled with the slave cylinder at an end of the housing such that a change in a location of the slave cylinder causes a change in a location of the preload flange.

The invention discloses a constant-force buffering mechanism and a robot, and belongs to the technical field of specialized robots, the constant-force buffering mechanism comprises at least two constant-force buffering assemblies arranged on a base and a plurality of driving wheels consistent with the constant-force buffering assemblies; the constant-force buffering assembly comprises a main support and a constant-force spring piece. The driving wheel is telescopically connected to the main bracket through a constant-force spring piece; the constant-force spring piece exerts counter-acting force on the base through vertical telescopic deformation so as to offset the gravity of the base and the gravity of the upper structure of the base, and it is guaranteed that the base and the upper structure of the base are kept stable in the vertical direction in the moving process. According to the constant-force buffering mechanism and the robot, the problems that in the prior art, a damping mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

A commercial vehicle having various GVWR configurations with a vehicle body with two or more axles, and a cab that does not pivot relative to the vehicle body, and a battery-electric-powered or hydrogen-electric-powered propulsion system. The vehicle has a center of gravity that is substantially lower, and a track width which is substantially narrower, than an articulating tractor-trailer combination with a trailer size comparable to the vehicle body of the present invention, providing substantially increased stability, and with all axles preferably being steerable E-axles, substantially improving the turning and trailing of the vehicle. Additional attributes are improved safety, increased payload weight and cubic capacity, higher productivity and lower maintenance costs. Many other advantages flow from this vehicle design.

The invention relates to a wheel side speed reduction driving integrated assembly coupling kingpin steering and steering trapezoid, and relates to the technical field of automobile wheel side driving suspension assembly angle modules. A wheel-side speed reduction driving integrated assembly coupling kingpin steering and a steering trapezoid comprises a driving motor, a wheel-side speed reducer and a steering knuckle, the upper end and the lower end of the steering knuckle are rotationally connected with an upper control arm and a lower control arm respectively, and the upper end of the steering knuckle is connected with a kingpin steering mechanism. The upper control arm is connected to the kingpin steering mechanism, the kingpin steering mechanism drives the steering knuckle to rotate around the axis of a kingpin, a vertical connecting rod is connected to the upper portion of the lower control arm, the upper end of the vertical connecting rod extends in the longitudinal direction of a vehicle to form a proportional connecting rod, and a spring shock absorber is hinged to the end of the proportional connecting rod. And the middle part of the proportional connecting rod is connected with the vehicle body. The large-angle steering device has the advantages that space layout optimization is achieved, motion interference among all components is avoided, and the large-angle steering effect can be achieved.