142results about How to "High steering precision" patented technology

The invention belongs to the technical field of special robots and particularly relates to a differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms, comprising a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises multifunctional mechanical arms and tail end working modules; a base of each multifunctional mechanical arm is fixed on an adsorption type climbing mechanism; and each tail end working module is fixed at the tail end of each multifunctional mechanical arm. According to the invention, the small-folding-size mechanical arms are carried; with the adoption of a five-degree-of-freedom matching manner, the tail end of each arm can work in a working region at any position and any angle; and compared with the other mechanical arms with less degree-of-freedom, the movement of the multifunctional mechanical arms is more flexible. The small-folding-size mechanical arms refer to that the arm folding is more compact and the size of the folded arm is smaller according to explanation; and according to the shape represented on each arm, particularly a large arm adopts a curve design, so that other structures can be avoided when the arms are folded.

The invention relates to a dual-power input type three-gear tracked vehicle transmission. A power input mechanism, a dual-power input mechanism, a three-gear speed changing and braking mechanism, a differential type driving mechanism, a left side track driving mechanism, a right side track driving mechanism and a power output mechanism are installed on a box body. According to the transmission, a mechanical and hydraulic parallel-connection type dual-power input device, a differential type steering device, a three-speed gear shifting device, a built-in braking device are adopted, and gear rings of planetary gear mechanisms at the two sides of a driving wheel of the differential type steering device are controlled to rotate in the positive direction and in the negative direction through a hydraulic motor, so that driving efficiency and control convenience of a tracked vehicle can be improved effectively, the steering accuracy is improved, the rotation speed matching range of efficient driving is enlarged, the applications of the tracked vehicle are increased, the driving safety is improved, and the problems that in an existing tracked vehicle, the transmission efficiency is low, the driving cornering drag is high, the control is difficult, the mud accumulation is severe when the tracked vehicle turns on the edge of a field, and a braking device is complex are solved.

The invention discloses a double-row roller conveying line with a steering mechanism. The double-row roller conveying line comprises a machine frame, a first double-row roller conveying line and a second double-row roller conveying line, the first double-row roller conveying line and the second double-row roller conveying line are arranged on the machine frame and are used for conveying a productclamping plate and are vertically crosswise arranged, the double-row roller conveying line is characterized in that a steering mechanism is arranged at the crossed center of the two double-row rollerconveying lines, the steering mechanism comprises a rotary positioning plate, a jacking platform, a jacking platform lifting driving device and a rotary driving device, the jacking platform lifting driving device is fixed on the machine frame, the rotary driving device is fixedly arranged on the jacking platform and is used for driving the rotary positioning plate to rotate, a vertical guide structure is arranged between the jacking platform and the machine frame in a matched mode; the second double-row roller conveying line is fixed on the movable plate, a movable plate lifting driving deviceis fixed on the machine frame, a plurality of conical positioning columns are arranged on the rotary positioning plate and are used for being matched with conical positioning holes arranged at the bottom of the product clamping plate. According to the double-row roller conveying line, the turning of the product clamping plate at the corner position can be easily realized by the aid of the steering mechanism, the control is simple, the mechanism action is small, the executing speed is high, the efficiency is high, and the operation is stable and reliable.

The invention discloses a continuously-variable transmission for a mechanical direct-drive hydraulic double-control tracked vehicle. According to the continuously variable transmission, a power input portion inputs power to an advance and retreat gear deceleration portion, the advance and retreat gear deceleration portion transmits power to a differential planetary transmission stepless speed change portion through an intermediate power transmission portion, then, the differential planetary transmission stepless speed change portion outputs the power to a drive transition deceleration transmission portion, and finally the power is transmitted to a left side caterpillar band drive portion and a right side caterpillar band drive portion, wherein an advance and retreat gear control portion is used for gear switching of the advance and retreat gear deceleration portion. Double self-locking type hydraulic motors are arranged in the differential planetary transmission stepless speed change portion, so that mechanical direct drive, hydraulic stepless speed regulation and steering control are achieved. When the double self-locking type hydraulic motors are in the same working state, the tracked vehicle achieves mechanical direct drive and hydraulic stepless speed regulation drive; when the double self-locking type hydraulic motors are not in the same working state, rotating speed difference happens between left side caterpillar band output wheels and right side caterpillar band output wheels, hydraulic control steering is achieved, transmission and steering of the tracked vehicle are integrated, operation is easy and convenient to perform, and the tracked vehicle is easy to drive.

The embodiment of the invention relates to a steering control method and a steering control device. The steering control method includes the steps of obtaining a steering control instruction and extracting a steering reference data list; according to the steering control instruction and the steering reference data list, determining target steering angles, corresponding steering moment and a corresponding rotation turn number; according to the steering moment and the rotation turn number, controlling a motor to run and correspondingly controlling wheels to execute steering operation according to the target steering angles; when the wheels execute the steering operation, controlling an angle sensor to detect the actual steering angle of each wheel; judging whether or not the differences between the actual steering angles and the target steering angles are smaller than a preset threshold value; if not, according to the actual steering angles, correcting the rotation turn number; controlling the angle sensor to monitor the actual steering angles of the wheels. The control precision of the wheel steering angle is ensured, and the steering precision is improved.

The invention discloses a ship follow-up steering system which comprises a steering mechanism, a drive device for driving a rudder axle to rotate and a power supply. The steering mechanism is sequentially connected with a data processing device and a display. The data processing device is connected with the drive device. The drive device is connected with the rudder axle which is connected with a rudder angle feedback device. The rudder angle feedback device is connected with data processing device. The power supply is connected with the display, the data processing device and the rudder angle feedback device. The ship follow-up steering system has the advantages that the overall structure of the ship follow-up steering system is simplified, digital, accurate and reliable operation is achieved, an operator can instantly learn about and master rubber blade angle conditions during sailing, and precise information is provided for course control.

A system for in-flight attitude control and side-force steering includes a thruster body and a plurality of valves capable of generating side thrusts put into communication with the thruster body. The valves are arranged in two sets of valves spaced apart from each other towards the front and towards the rear of the thruster body in substantially symmetrical manner relative to the center of gravity of the vehicle situated on a longitudinal axis (A) of the vehicle. Each set comprises a first pair of valves generating thrust in opposite directions along axes that are not in alignment and are parallel to a first axis, and a second pair of valves generating thrust in opposite directions along axes that are not aligned and are parallel to a second axis. The first and second axes are distinct and perpendicular to the longitudinal axis of the vehicle.

The invention discloses a steering device. The steering device comprises a front hinge frame, a rear hinge frame, a hinge spindle and a power system, wherein the front hinge frame is used for being connected with an elevator body; the rear hinge frame is used for being connected with a vehicle body; the front hinge frame and the rear hinge frame are connected with the hinge spindle as the axis toform a hinge mechanism; the power system is used for driving the hinge spindle to be in linkage with the front hinge frame to rotate relative to the rear hinge frame. According to the steering device,a hinge steering device of the compact structure is arranged between the vehicle body and the elevator body so that the elevator body can turn to the left and right sides of the vehicle body by a large angle, and the requirements for operation of a forklift in a narrow roadway are met; meanwhile, the steering device conducts control through a hydraulic system and conducts steering power transmission through a gear transmission unit and can accurately realize the steering angle and improve the steering precision; in addition, a balance valve is arranged in a steering control oil way to realizelocking of the steering state; and thus, the forklift can maintain the steering state.

The invention discloses a freely switchable unmanned formula car steering mechanism which comprises a steering tie rod used for transmitting steering power to a steering wheel of a formula car. A transmission limiting mechanism is fixed to a car frame of the formula car, and the steering tie rod penetrates through the transmission limiting mechanism. The transmission limiting mechanism converts steering power transmitted by the steering wheel of the formula car into axial movement of the steering tie rod through a transmission pair. A sliding block is fixed on the steering tie rod. A steeringmotor and an electromagnetic clutch are installed on the car frame through a fixing frame. The input end of the electromagnetic clutch is connected with a rotating shaft of the steering motor, and theoutput end of the electromagnetic clutch is connected with a crank. A connecting rod is movably arranged on the sliding block, and the end of the crank is movably connected with the end of the connecting rod. The problems that in the prior art, the structure is complex, axial friction is large, and interference is generated during steering switching between manned and unmanned modes are solved, and free switching between manned driving and unmanned driving modes can be conducted.

The invention discloses a steering system. The invention belongs to the technical field of automobile steering. The steering system comprises a first transmission device connected with a first steering wheel, a first driving motor connected with the first transmission device, a second transmission device connected with a second steering wheel, a second driving motor connected with the second transmission device, and a control unit electrically connected with the first driving motor and the second driving motor and used for controlling the steering of the first steering wheel and the second steering wheel by controlling the rotation of the first driving motor and the second driving motor. The steering system has the advantages that the two steering wheels are independently controlled, eachsteering wheel is controlled to deflect according to the optimal deflection angle, it is guaranteed that the instantaneous speed center of the rear wheels intersects with the instantaneous speed center of the two front wheels in the automobile steering process, relative sliding between tires and the ground is reduced or even eliminated, and the steering precision and safety of an automobile are improved.

The invention discloses a drive-by-wire hydraulic braking and steering system. The drive-by-wire hydraulic braking and steering system solves the problems that an existing drive-by-wire braking and steering system arranged independently has a large occupied area and low integration and does not facilitate integrated control, and the existing drive-by-wire braking and steering system is poor in stability when the existing system does not work in case of power failure. The drive-by-wire hydraulic braking and steering system comprises a hydraulic source part, a steering part, a braking part and an electric control part; the hydraulic source part comprises a hydraulic pump, a first one-way valve, a second one-way valve and an eighth normally closed electromagnetic valve; the steering part comprises a first normally closed electromagnetic valve and a first high speed switching valve; the braking part comprises a second high speed switching valve and a seventh normally closed electromagnetic valve; the hydraulic source part is in pipeline connection with the steering part through the eighth normally closed electromagnetic valve, the first one-way valve, the first normally closed electromagnetic valve and the first high speed switching valve; the hydraulic source part is in pipeline connection with the braking part through the hydraulic pump, the second one-way valve, the second high speed switching valve and the seventh normally closed electromagnetic valve; and the power control part is in electric wire connection with the hydraulic source part, the steering part and the braking part.

The invention provides a full-automatic parking control method based on a linear arc path, which comprises the following steps of: determining an expected steering wheel angle and an advanced steering distance of a next section of parking path according to the parking path; in each period, the expected steering wheel angle of the parking path of the current section is corrected based on the position deviation and the course deviation, and the target steering wheel angle of the current period is obtained; updating the parking path of the next section as the parking path of the current section until the remaining distance of the vehicle in the parking path of the current section is smaller than the advance steering distance; and obtaining a current target angle of the current period according to the actual steering wheel angle of the current period and the target steering wheel angle, and outputting the current target angle. The invention further provides a corresponding controller. According to the method, steering is conducted in advance, then the path is self-corrected, the problem that the direction cannot be corrected due to insufficient steering is avoided, and therefore the steering precision of full-automatic parking is improved.

The invention discloses a novel rear wheel active steering device. The device comprises a rear axle sub-frame, a motion conversion mechanism which is arranged on the upper portion of the cross beam ofthe rear axle sub-frame, two steering cross pulling rods of which the ends are respectively connected with two ends of the motion conversion mechanism and two wheel steering knuckle arms of which theends are respectively connected with the other ends of the steering cross pulling rod and the other ends are respectively connected with two rear wheels; the motion conversion mechanism includes a motion conversion mechanism housing with a first accommodating cavity, a crank, an eccentric wheel, in which a through hole is axially formed in an eccentric point, a crank shaft with one end fixedly connected with the through hole and a sliding block which is slidably disposed in a first accommodating cavity and has a second accommodating cavity. The invention also provides a control method for thenovel rear wheel active steering device, and the method can precisely control the steering angle required for rear wheels of an automobile according to the specific automobile speed, the yaw rate andthe front wheel rotation angle when the automobile turns.

Disclosed is a slip joint including a shaft having a plurality of shaft grooves formed on an outer peripheral surface in the longitudinal direction; a pipe having pipe grooves formed on an inner peripheral surface, the pipe grooves facing the shaft grooves so as to define cylindrical spaces, an end of the shaft being inserted into the pipe; a pin inserted into one of the cylindrical spaces; a first spring pin inserted into a different one of the cylindrical spaces, the first spring pin being made of a cylindrical elastic body having a longitudinal seam; a second spring pin inserted into the first spring pin, the second spring pin being made of an elastic body; and a connector for integrally connecting the first spring pin to the pin so as to constitute a slipper.

The embodiment of the invention relates to an unmanned street sweeper. The unmanned street sweeper comprises a chassis assembly, a frame assembly and a body assembly; the chassis assembly comprises achassis body, a front wheel, rear wheels, a wheel speed meter and a steering control system; the frame assembly comprises an equipment mounting frame assembly, a front frame assembly, a rear frame assembly and a top plate supporting assembly, wherein the equipment mounting frame assembly comprises an equipment mounting bracket and an equipment mounting plate; the front frame assembly comprises a front frame bracket, an LED screen bracket, a first GPS antenna bracket and a second GPS antenna bracket; the rear frame assembly comprises a rear frame bracket and a hinge bracket; the top plate supporting assembly comprises a top plate bracket and a locking device; the body assembly comprises a side wall assembly and a roof assembly; the front end of the side wall assembly is fixedly connected with the front frame assembly; the rear end of the side wall assembly is fixedly connected with the rear frame assembly and the equipment mounting frame assembly; and the roof assembly is fixedly connected with the top plate supporting assembly and buckled at the top end of the side wall assembly.

The invention discloses an electric intelligent linear servo tie rod vehicle steering method and system. The method comprises the following steps that a steering system obtains a target steering angleand an actual steering angle of a vehicle; an angle deviation value between the target steering angle and the actual steering angle is calculated; a target displacement value of the tie rod is calculated according to the angle deviation value; and the tie rod is driven to move according to the target displacement value. The system comprises at least two motors, a tie rod, a steering arm, and at least two electronic control units. The two ends of the tie rod are connected with one ends of the steering arms respectively, the other ends of the steering arms are connected with vehicle shaft rodsrespectively, the motors are connected with the tie rod, the electronic control unit is in communication connection with the motors respectively and used for driving the motors respectively. The steering system is simple and can be suitable for manual driving and automatic driving at the same time.

The invention discloses a hydraulic screw crawler hiller. A motor part, a speed-change and steering control part, a hilling working mechanism, and a hand-held operation part are arranged on a chassis bracket part of the hiller. The speed-change and steering control part is connected with a crawler travelling part and the hilling working mechanism. In the hilling working mechanism, a left side hilling blade assembly and a right side hilling blade assembly have a same structure, and are symmetrically arranged on two ends of a bracket assembly, relative to a power transmission case which is arranged on the bracket assembly. A left side breadth adjustment mechanism and a right side breadth adjustment mechanism are arranged on the bracket assembly. A left hydraulic driving part and a right hydraulic driving part are connected with the power transmission case. The hilling working mechanism is positioned between two ridges. While screw conveying hilling is carried out, a weeding function is performed. The hilling working mechanism is controlled by a hydraulic pump-motor direct connection system, such that versatility is high. Crawler driving is adopted in the crawler travelling part, such that vehicle trafficability is effectively improved. A working device transmission function is integrated in the speed-change and steering control part, such that the total weight of the hiller can be reduced.

Disclosed is a double-clutch directly controlled stepless speed regulator for a tracked vehicle. Double clutches are connected with a double-clutch power input part. One part of power of the double-clutch power input part is output through a power output shaft speed reduction part, the other part of the power of the double-clutch power input part is transmitted to a stepless speed regulation part, the power output shaft speed reduction part transmits the power to an external operating part through a power output shaft part, the stepless speed regulation part transmits the power to a differential planetary transmission part, then the differential planetary transmission part transmits the power to drive a left track drive part and a right track drive part, a power output shaft gear shifting part is used for controlling switching of gear output of the double-clutch power input part for the power output shaft speed reduction part, and an external control connection part is used for achieving directly controlled steering. A double-clutch self-locking type hydraulic motor is adopted to control a planet carrier of a planetary gear transmission mechanism so as to achieve mechanical direct control and hydraulic stepless speed regulation, the switchover efficiency is high, integrated control is easy to implement, transmission efficiency is high, operation is easy and convenient, and steering precision is high.