35results about How to "High steering torque" patented technology

The invention provides a dual-motor wire-controlled complex steering system and a control method thereof. The dual-motor wire-controlled complex steering system comprises a steering wheel, a steeringcolumn assembly, a road sense assembly, a dual-motor steering execution device and a steering control unit, and steering control of the system is completed through an adaptive control method. According to the dual-motor wire-controlled complex steering system, integration and unification of steering performance such as larger steering torque, lower energy consumption, faster response speed can berealized, steering control parameters are adjusted automatically according to actual driving situation, uncertainty in driving environment can be better resisted, and steering accuracy and vehicle safety are ensured.

The invention provides a multifunctional control device of a small waterline plane ship hydrofoil and column rudder, comprising two hydrofoils and a column rudder mechanism; each hydrofoil and the column rudder mechanism comprise hydrofoils; a hydrofoil strut fixed on the hydrofoil, two wing flaps symmetrically distributed on the hydrofoil and at the both sides of the hydrofoil strut and a column rudder arranged on the hydrofoil strut; two hydrofoils and the column rudder mechanism are respectively installed at the front part and the rear part of a small waterplane area twin-hull ship; two sheet bodies of the hydrofoil and the small waterplane area twin-hull ship are fixedly connected according to a certain installation angle; the hydrofoil strut is fixedly connected with a connection body at the upper part of the small waterplane area twin-hull ship. The multifunctional control device of the invention has multiple functions, can shorten transient time from hullborne operation to foilborne operation, weaken heave motion and pitching motion of the small waterplane area twin-hull ship, weaken rolling motion of the catamaran, control inclination angle of the ship, has course control function, can effectively shorten steering gyration radius, and improve the safety, navigability and maneuverability of the small waterplane area twin-hull ship.

The invention relates to a modularized multifunctional drill jambo system which at least comprises a track running system, a chassis, a circular track rack, a drilling rig driving device, a hydraulic drilling rig, a rotating operation platform and an electric hydraulic system, wherein the track running system of the jambo is equipped with a walking platform and a foldable turning plate, can meet the vehicle-passing requirement and also can overcome the turning load impact generated in the turning process of the track; the overall shape of the circular track rack of the jambo is similar to the shape of a corresponding tunnel section; the limited space in the tunnel is fully utilized to design the whole vehicle and the vehicle-passing requirement can be met; more shot holes can be covered when the drilling rig driving device relatively runs around the circular track rack; a chassis assembly of the jambo is equipped with a hydraulic stretching support leg capable of adjusting the levelness of the jambo and a rotatable operation platform; the operation platform is arranged, so that the operation platform is supplied to the operator for measuring the marking line close to the tunnel face, filling explosive, and the like.

The invention provides a dual-motor coupling electric power-assisted steering device and a control method thereof. Mode switch is achieved by adopting a magnetic powder clutch and a synchronizer, and a single-row planetary gear system serves as a power coupling device of a first motor and a second motor. A first clutch and a second clutch limit torque output of the first motor and the second motor correspondingly, and the energy flow direction of the second motor is changed through the synchronizer. According to electric current on-off control of an ECU over the clutches, power output of the motors is determined. By using joint conditions of a joint sleeve and combing on-off of the clutches, coupling conditions are determined. According to motor failure and a drive circuit self-diagnosis technology, the power-assisted steering module ECU judges the states of the motors. By controlling the clutches and the joint sleeve, dual-motor fault-tolerant control is achieved. According to the dual-motor coupling electric power-assisted steering device and the control method thereof, four working modes including dual-motor independent drive, dual-motor rotating-speed coupling drive, dual-motor torque coupling drive and the like can be achieved, requirements for various performance of steering in the driving process of a commercial vehicle can be met, and a system is high in reliability.

The invention relates to the field of thrusters and discloses a universal thruster. The universal thruster comprises a shell (2) and a propeller (1). A joint bearing (3) is installed in the shell (2), the propeller (1) is installed on a spherical inner ring (31) of the joint bearing (3), a pushing guide rod (4) is installed on the spherical inner ring (31) and connected with a pushing motor (5), and the joint bearing (3) drives the propeller (1) to swing under the pushing function of the pushing guide rod (4). Steering of the universal thruster does not depend on steerage generated when water flow flows past a control surface but depends on vector thrust force which is more direct, so the steering radius is very small, and high steering torque can be generated even under a dead slow condition. The universal thruster has the advantage of being high in steerage and is particularly suitable for military unmanned underwater vehicles.

The invention relates to a flap wing underwater and water surface propeller, a navigator and a propelling method. The flap wing underwater and water surface propeller comprises a round base and four flap wings, wherein the four flap wings are arranged on the base and have the same size, each flap wing is sequentially and movably connected onto the base through horizontally installed attack angle shafts and vertically installed swinging and flapping shafts, in addition, each flap wing can singly and respectively rotate around the located attack angle shafts and swinging and flapping shafts for forming a two-freedom rotating mechanism, and the four swinging and flapping shafts are set into the X-shaped layout in an axial symmetry way by using the center line of the base as the symmetry axis. Compared with the conventional propeller propelling mode, the flap wing propelling mode provided by the invention has the advantages that the fluid performance is more complete, and the propelling efficiency is improved. Because the special turning maneuvering action, the turning radius much smaller than that of the propeller propelling can be realized, and the maneuverability performance of the underwater navigator is obviously improved. The flap wing propelling mode applied to the underwater navigator has smaller modification on the structure of the underwater navigator, in addition, the propelling efficiency and the maneuverability are better, and better application prospects are realized.

The invention relates to a dual-front axle vehicle steering system comprising a steering gear, a plumbing arm, a first front axle drag link, a transition pull bar, a power-assisted cylinder assembly, a second front axle drag link, a first front axle and a second front axle; the steering gear is arranged on a frame vertical beam through a steering gear rack; the top of the plumbing arm is connected with the steering gear, and the bottom of the plumbing arm is movably connected with the front end of the transition pull bar; the rear end of the transition pull bar is movably connected with the power-assisted cylinder assembly; the front end of the first front axle drag link is movably connected with the power-assisted cylinder assembly, and the rear end is movably connected with the first front axle; the front end of the second front axle drag link is movably connected with the power-assisted cylinder assembly, and the rear is movably connected with the second front axle. The power-assisted cylinder assembly can provide steering assist power, can serve as the transition rocking arm, needs no piston, and can bear more pressure, thus outputting bigger steering moment; the dual-front axle vehicle steering system is long in service life, and good in reliability.

The invention provides a steering-by-wire system and a control method thereof. The steering-by-wire system comprises a steering wheel, a first steering column, a first torque steering angle sensor, aroad sense feedback unit, an electronic control unit, a second steering column, a motor booster unit, a hydraulic booster unit and a circulating ball type hydraulic booster steering device, wherein the motor booster unit comprises a first motor steering booster unit and a second motor steering booster unit, the hydraulic booster unit comprises an electric hydraulic pump, an oil box, an electromagnetic directional valve and an oil pipe, the steering wheel is connected with the input end of the first steering column, the first torque steering angle sensor is arranged on the first steering columnin a sleeving manner, the road sense feedback unit is connected with the output end of the first steering column, the motor booster unit is connected with the input end of the second steering columnand is connected with the circulating ball type hydraulic booster steering device through the second steering column, the electric hydraulic pump, the oil box and the electromagnetic directional valveare connected in sequence, and the first torque steering angle sensor, the road sense feedback unit, the motor booster unit, the electric hydraulic pump and the electromagnetic directional valve areconnected with the electronic control unit.

The invention provides a multifunctional control device of a small waterline plane ship hydrofoil and column rudder, comprising two hydrofoils and a column rudder mechanism; each hydrofoil and the column rudder mechanism comprise hydrofoils; a hydrofoil strut fixed on the hydrofoil, two wing flaps symmetrically distributed on the hydrofoil and at the both sides of the hydrofoil strut and a columnrudder arranged on the hydrofoil strut; two hydrofoils and the column rudder mechanism are respectively installed at the front part and the rear part of a small waterplane area twin-hull ship; two sheet bodies of the hydrofoil and the small waterplane area twin-hull ship are fixedly connected according to a certain installation angle; the hydrofoil strut is fixedly connected with a connection body at the upper part of the small waterplane area twin-hull ship. The multifunctional control device of the invention has multiple functions, can shorten transient time from hullborne operation to foilborne operation, weaken heave motion and pitching motion of the small waterplane area twin-hull ship, weaken rolling motion of the catamaran, control inclination angle of the ship, has course control function, can effectively shorten steering gyration radius, and improve the safety, navigability and maneuverability of the small waterplane area twin-hull ship.

The patent of the invention discloses an aircraft with a double-fuselage tandem wing vertical take-off and landing layout, and particularly relates to the technical field of aviation aircrafts. The aircraft with a double-fuselage tandem wing vertical take-off and landing layout comprises two fuselages which are arranged at an interval, and an engine is arranged on each fuselage; a front tandem type wing and a rear tandem type wing which are distributed at an interval are arranged on the two fuselages; an electric tilting rotor wing arranged at one end of the front tandem type wing is also symmetrically arranged on each fuselage; a generator is connected between each electric tilting rotor wing and each engine, the generators are electrically connected with the engines, the rear tandem typewing is provided with a first lift fan located between the two fuselages and a sliding flow rudder located below the first lift fan, and each fuselage is provided with a vertical fin located at one end of the rear tandem type wing. By the adoption of the technical scheme, the problem that an existing aircraft cannot stably and vertically take off and land under severe weather conditions is solved, and the aircraft can fly under extreme weather conditions.

The invention discloses an engineering vehicle and a steering mechanism and a steering control system thereof. One end of a first steering oil cylinder and one end of a second steering oil cylinder are hinged to the middle of a front axle housing, and the other ends of the first steering oil cylinder and the second steering oil cylinder are hinged to a first wheel steering knuckle arm and a secondwheel steering knuckle arm respectively; the first end of the first wheel steering knuckle arm is connected with a front axle transmission mechanism; the second end of the first wheel steering knuckle arm is hinged with the first end of a first steering pull rod; the second end of the first steering pull rod is hinged with the lower end of a first pull rod steering rocker arm and the first end ofthe front axle adjustable steering pull rod; the second end of the second wheel steering knuckle arm is hinged with the first end of the second steering pull rod; the second end of the second steering pull rod is hinged with the lower end of a second pull rod steering rocker arm and the second end of the front axle adjustable steering pull rod; and the upper ends of the first pull rod steering rocker arm and the second pull rod steering rocker arm are hinged to the front axle housing. The three steering pull rods are adopted, the two ends of each steering pull rod are non-adjustable, the middle of each steering pull rod is adjustable, a steering structure can be conveniently adjusted at a time, and toe-in values of a front axle and a rear axle are adjusted.

The invention relates to a double-front-axle automobile steering system which comprises a steering device, a plumbing arm, a first front axle straight pull rod, a transition pull rod, a power cylinder assembly, a rocker arm, a second front axle straight pull rod, a first front axle steering knuckle arm, a second front axle steering knuckle arm, a first axle and a second axle. According to the technical scheme, through engaged cooperation of a piston and the rocker arm of the power cylinder, a piston rod and a supporting structure in the prior art are omitted, and through movement of the piston, the rocker arm matched with the piston in a toothed mode rotates left or right to provide power for steering of the second front axle, the power cylinder structure is small in mounting space and meanwhile achieves the effect of a transition rocker arm, and the number of parts in the steering system is decreased. By omitting the piston rod, the power cylinder can bear larger pressure to output larger steering torque, the service life is long, and reliability is good.

The invention discloses an electric push rod power-assisted steering device which comprises a steering pull rod with a tension-compression stress sensor, an electric push rod and a power-assisted steering controller. The tension-compression stress sensor is mainly used for detecting the size and the direction of force applied to the steering pull rod and mounted in the middle of the steering pullrod in a threaded connection manner. One end of the electric push rod is mounted at the middle right end of a steering linkage rod, and the other end of the electric push rod is mounted at the middleleft end of a front axle in a single-rod offset manner. The power-assisted steering controller mainly comprises a 51 single chip microcomputer, a signal acquisition and processing circuit, an electricpush rod driving circuit, a monitoring circuit, a protecting circuit and the like and is used for controlling expansion of the electric push rod and accordingly realizing power-assisted steering according to acquired stress of the steering pull rod. Energy consumption can be effectively reduced, environmental pollution is reduced, the device can adapt to various running conditions, steering characteristics of a vehicle are improved, and the device has good low-temperature working performance.

The invention discloses a hydraulic steering mechanism which comprises a steering wheel, a transmission shaft, a rotary shaft, a ball screw mechanism, a piston rod, a liquid storage tank, a three-way valve and a steering hydraulic cylinder. The steering wheel is connected with one end of the transmission shaft through a cardan joint, the other end of the transmission shaft is connected with the rotary shaft through a cardan joint, and a slide block is arranged in the ball screw mechanism and performs reciprocal rectilinear motion along the rotating axis of the ball screw mechanism. A piston is arranged on the part of the piston rod in the liquid storage tank, oil outlets are formed in the bottom on the two sides of the liquid storage tank respectively, one end of the three-way valve is connected with the corresponding oil outlet, and the other two ends of the three-way valve are connected with the steering hydraulic cylinder. The steering hydraulic cylinder is connected with a steering knuckle arm and controls wheels on the two sides to perform steering according to different pressures of the liquid storage tank. By means of the helical curve of the ball screw mechanism, labor is saved when steering is performed, steering torque of the wheels is larger by means of matching the helical curve of the ball screw mechanism and the hydraulic cylinder, and it is ensured that the wheels have enough swerving trafficability.

The present invention relates to a dual-front axle steering system of an automobile. The dual-front axle steering system comprises a steering gear, a vertical arm, a first front axle drag link, a transition drag link, a booster cylinder assembly, a second front axle drag link, a first front axle and a second front axle. The steering gear is mounted on a frame rail through a steering gear bracket, the upper end of the vertical arm is connected with the steering gear, the lower end of the vertical arm is movably connected with the front end of the first front axle drag link, the rear end of the first front axle drag link is movably connected with the first front axle, the front end of the transition drag link is movably connected with the vertical arm, the rear end of the transition drag link is movably connected with the booster cylinder assembly, the front end of the second front axle drag link is movably connected with the booster cylinder assembly, and the rear end of the second front axle drag link is movably connected with the second front axle. By applying the dual-front axle steering system of the automobile, steering assistance is improved, and the steering is more labor-saving. The booster cylinder assembly can not only provide steering assistance, but also can function as a transition rocker arm.

The invention discloses a four-wheel independent steering system controlled by wire and a control method thereof, comprising a vehicle frame, a suspension, a wheel and a sleeve steering motor assembly; wherein, the suspension is respectively connected with the wheels and the frame, and the The suspension includes: a lower swing arm, a steering knuckle, a spring upper support, a spring lower support, a spring and a shock absorber, the springs are respectively connected to the spring upper support and the spring lower support, and are arranged between them; Both the lower swing arm and the shock absorber are connected to the steering knuckle, and the steering knuckle is connected to the wheel; the lower swing arm is also connected to the vehicle frame, the spring upper support is connected to the vehicle frame through a ball joint, and the sleeve The steering motor assembly is fixedly connected with the spring lower support, and the sleeve steering motor drives the shock absorber to rotate around its axis to output torque, so that the steering knuckle drives the wheel to deflect to realize steering. The invention solves the problems in the prior art that the traditional vehicle steering system occupies a large space and has a small driving capacity.

The present invention relates to a dual-front axle steering system of an automobile. The dual-front axle steering system comprises a steering gear, a vertical arm, a first front axle drag link, a transition drag link, a booster cylinder assembly, a second front axle drag link, a first front axle and a second front axle. The steering gear is mounted on a frame rail through a steering gear bracket, the upper end of the vertical arm is connected with the steering gear, the lower end of the vertical arm is movably connected with the front end of the first front axle drag link, the rear end of the first front axle drag link is movably connected with the first front axle, the front end of the transition drag link is movably connected with the vertical arm, the rear end of the transition drag link is movably connected with the booster cylinder assembly, the front end of the second front axle drag link is movably connected with the booster cylinder assembly, and the rear end of the second front axle drag link is movably connected with the second front axle. By applying the dual-front axle steering system of the automobile, steering assistance is improved, and the steering is more labor-saving. The booster cylinder assembly can not only provide steering assistance, but also can function as a transition rocker arm.

The invention discloses a rear-wheel active steering device and a control system thereof. The rear-wheel active steering device comprises a torque amplifying device assembly, a rear-wheel steering system assembly, a steering knuckle and a vehicle wheel system assembly; the steering knuckle is fixed on a motor shaft of a hub motor of the vehicle wheel system assembly; a steering pull rod of the rear-wheel steering system assembly and a steering arm of the steering knuckle are connected; a support at a lower end of the torque amplifying device assembly is connected with a steering transmission shaft of the rear-wheel steering system assembly. The rear-wheel active steering device is applied to an electric automobile which is independently driven by the wheel hub motor, the rear-wheel steering torque can be amplified through the torque amplifying device to enable the active device to be applicable to occasions difficult to steer, and meanwhile an electronic control unit enables rear-wheel steering to be achieved in an auxiliary mode by adjusting the differential of the rear-wheel wheel hub motor.

The invention discloses a two-factor linkage type trigger switch device, and belongs to the technical field of control switches. The device comprises a torque loader, a linked switch assembly and a corner trigger, wherein the moment loader comprises an action cylinder shell, a medium cavity and a moment loading piston are arranged in the action cylinder shell, and a piston rod of the moment loading piston is connected with the linked switch assembly; the piston rod is sleeved with a piston reset spring, and a medium cavity of the torque loader is communicated with an external pressure source; the linked switch assembly comprises a fork arm and a poke rod hinged to the fork arm, the left side of the poke rod is connected with trigger rods extending up and down, the two trigger rods are correspondingly provided with trigger switches respectively, and the left side of the poke rod is connected with a linked switch reset spring; the corner trigger comprises an oval rotating disc and is provided with a rotating side face capable of being in smooth contact with the pulley. The anti-rollover device can assist in effectively playing an anti-rollover role, and has the advantages that accidental triggering is avoided, rollover early warning can be conducted, automatic resetting is achieved, and the anti-rollover device can be widely applied to different vehicle types.

The invention relates to a double front axle automobile steering system, comprising a steering gear, a drop arm, a first front axle straight tie rod, a transition tie rod, a booster cylinder assembly, a second front axle straight tie rod, a first front axle and a second front axle The steering gear is installed on the frame longitudinal beam through the steering gear bracket, the upper end of the drop arm is connected with the steering gear, and the lower end of the drop arm is movably connected with the front end of the transition tie rod; the rear end of the transition tie rod is movably connected with the booster cylinder assembly; The front end of the straight tie rod of the first front axle is movably connected with the booster cylinder assembly, and the rear end is movably connected with the first front axle; the front end of the straight tie rod of the second front axle is movably connected with the first front axle, and the rear end is movably connected with the second front axle . The booster cylinder assembly in this technical solution can not only provide steering assist, but also act as a transitional rocker arm; the booster cylinder does not use a piston rod, and the booster cylinder can withstand greater pressure, thereby outputting greater steering torque, and the service life High and reliable.

The invention discloses a double-factor linkage type trigger switch device, which belongs to the technical field of control switches, and comprises a torque loader, a linkage switch assembly and a rotation angle trigger. The moment loads the piston, and the piston rod of the moment load piston is connected to the linkage switch assembly, the piston rod is sleeved with a piston return spring, and the medium chamber of the torque loader is connected to the external pressure source; the linkage switch assembly includes a fork arm and a toggle hinged with the fork arm The left side of the toggle lever is connected to a trigger lever extending up and down, the two trigger levers are respectively provided with trigger switches, and the left side of the toggle lever is connected with a linkage switch return spring; the corner trigger includes an oval turntable, and its Has rotating sides that can make smooth contact with pulleys. The present invention can assist and effectively play the anti-rollover function, and has the advantages of no accidental triggering, rollover warning and automatic reset, and can be widely applied to different vehicle models.

The invention discloses a flow guide cover device capable of swinging angle, which comprises a flow guide cover base, a screw shaft, a flow guide cover, a connecting rod and a driving motor. A throughhole is arranged in the middle of the flow guide cover base. A lead screw shaft penetrate through that mounting through hole and is rotatably mount on the base of the flow guide cover, a driving gearis arranged at the front end of the lead screw shaft, and a lead screw mother is sleeve at the rear end of the lead screw shaft; The front end of the air guide cover is articulated with the base of the air guide cover, one end of the connecting rod is articulated with the rear end of the air guide cover, and the other end is articulated with the screw female of the rear end of the screw shaft; Asthat drive motor is drivingly connected with the drive gear, the technical problem that the angle of the air guide cover is not adjustable can be solved.

The invention provides a multi-opening-and-closing-mode multi-purpose ladder door for public transport means. The ladder door comprises a vehicle body, two sets of multi-opening-and-closing ladder doors and ladder door combination adjusting structures, the two sets of multi-opening-and-closing ladder doors are symmetrically arranged, a ladder door opening is formed in the vehicle body, the two sets of multi-opening-and-closing ladder doors are arranged in the ladder door opening, a ladder door hiding groove is formed in the side edge of the opening of the ladder door, the multi-opening-and-closing ladder doors can be contained in the ladder door hiding groove, the number of the ladder door combination adjusting structures is two, and the two ladder door combination adjusting structures are symmetrically arranged. The structural design of the vehicle door is optimized, the ladder door can be normally opened on the side, a certain ladder type door can also be achieved, the ladder door can be rotated by equipment, the utilization rate of the door is higher, different door body heights can be achieved just like a traditional gate, the convenience of the vehicle is improved by the equipment, the use experience of passengers is improved, and the ladder door is good in practical effect and suitable for being popularized and used.

The invention relates to a modularized multifunctional drill jambo system which at least comprises a track running system, a chassis, a circular track rack, a drilling rig driving device, a hydraulic drilling rig, a rotating operation platform and an electric hydraulic system, wherein the track running system of the jambo is equipped with a walking platform and a foldable turning plate, can meet the vehicle-passing requirement and also can overcome the turning load impact generated in the turning process of the track; the overall shape of the circular track rack of the jambo is similar to the shape of a corresponding tunnel section; the limited space in the tunnel is fully utilized to design the whole vehicle and the vehicle-passing requirement can be met; more shot holes can be covered when the drilling rig driving device relatively runs around the circular track rack; a chassis assembly of the jambo is equipped with a hydraulic stretching support leg capable of adjusting the levelness of the jambo and a rotatable operation platform; the operation platform is arranged, so that the operation platform is supplied to the operator for measuring the marking line close to the tunnel face, filling explosive, and the like.

The invention relates to a dual-front axle vehicle steering system comprising a steering gear, a plumbing arm, a first transition pull bar, a first transition rocking arm, a first front axle drag link, a second transition pull bar, a power-assisted cylinder assembly, a second front axle drag link, a first front axle and a second front axle; the plumbing arm is movably connected with the front end of the first transition pull bar; the rear end of the first transition pull bar is movably connected with the bottom of the first transition rocking arm; the front end of the first front axle drag link is movably connected with the bottom of the first transition rocking arm, and the rear end is movably connected with the first front axle; the front end of the second transition pull bar is movably connected with the first front axle, and the rear is movably connected with the power-assisted cylinder assembly; the front end of the second front axle drag link is movably connected with the power-assisted cylinder assembly, and the rear end is movably connected with the second front axle. The power-assisted cylinder assembly can provide steering assist power, can serve as the transition rocking arm, needs no piston, and can bear more pressure, thus outputting bigger steering moment; the dual-front axle vehicle steering system is long in service life, and good in reliability.

The invention provides a water rudder of an amphibious aircraft. The water rudder comprises a water rudder body (3), a fish-shaped rectifying tail (5) and an upper end face flow baffle (6). The water rudder main body (3) is in a wing shape; the upper end face flow baffle (6) is in a direct trapezoid shape and is arranged on the upper end face of the water rudder body (3). And the fish-shaped rectifying tail (5) is an isosceles right triangle prism and is arranged at the tail edge of the water rudder main body (3). The structure is simple, large steering torque can be provided for the amphibious aircraft when the amphibious aircraft slides on the water surface at a low speed, and efficiency can be increased by 30% or above under the target working condition.

The invention relates to a steering system for a double front axle automobile, comprising a steering gear, a drop arm, a first front axle straight tie rod, a transition tie rod, a booster cylinder assembly, a second axle straight tie rod, a first front axle and a second front axle; The booster cylinder assembly includes the booster cylinder and the rocker arm, and the tooth shape of the booster cylinder and the rocker arm meshes. The booster cylinder of this technical solution cancels the piston rod and supporting structure in the prior art through the meshing and cooperation between the piston and the rocker arm, and through the movement of the piston, the rocker arm that cooperates with the piston tooth shape turns left or right The power cylinder provides power assistance for the steering of the second front axle. The installation space of this power cylinder structure is small, and it also acts as a transitional rocker arm, reducing the number of components in the steering system. By canceling the piston rod, the booster cylinder can withstand greater pressure, thereby outputting greater steering torque, and has a long life and good reliability.

The invention discloses a steering system which comprises a frame and wheels arranged at the lower end of the frame. The frame is provided with a steering wheel turning angle input device, and the steering wheel turning angle input device is provided with a circulating ball mechanism; the circulating ball mechanism is provided with a main hydraulic control cylinder; the main hydraulic control cylinder is arranged at the wheel arranging end of the frame and provided with a steering rocker arm; the steering rocker arm is arranged between the wheels. In this way, the steering system has the advantages that the structure is simple, and the steering torque of the wheels is increased; more labor is saved, and the phenomenon that teeth are prone to be damaged due to the fact that the steering input force brought by a gear mechanism is large can be effectively avoided.

A micro-robot comprises a robot framework and a structural layer located below the robot framework. The robot framework comprises a trunk with a supporting structure, the structural layer comprises a front leg part, a rear leg part, a left electrostatic force adsorption foot pad, a right electrostatic force adsorption foot pad, a left connecting thin film and a right connecting thin film, the parts, making contact with the ground, of the front leg part and the rear leg part are in arc shapes, and the left electrostatic force adsorption foot pad and the right electrostatic force adsorption foot pad are connected to the two sides of the arc-shaped part of the front leg part through the left connecting thin film and the right connecting thin film correspondingly. The micro-robot can realize flexible steering by virtue of the design of the arc leg structure and electrostatic force adsorption foot pads under the condition of bearing a load, and can realize a very small turning radius. The micro-robot is flexible in steering control, high in speed and high in loading capacity.