101results about How to "Improve handling stability" patented technology

The invention relates to the technical field of force feedback handles, in particular to a remote surgical robot control system based on a force feedback handle and a control method thereof. The method comprises the following steps: carrying out multi-dimensional force data acquisition on an end effector of the surgical robot, and carrying out contact force size, direction and time sequence feature extraction to obtain multi-dimensional force feature data; performing surgical operation safety baseline analysis according to the multi-dimensional force feature data to generate surgical operation safety baseline data; performing dynamic force feedback threshold calculation according to the surgical safety operation baseline data to obtain force feedback threshold range data; and performing adaptive compression processing on different force feedback signals according to the force feedback threshold range data to obtain dynamic force feedback control parameters. Through real-time control instruction optimization and a closed-loop feedback strategy, the system can quickly respond to an operation intention, early warning is carried out on potential risks, and it is ensured that the operation process is safer and more reliable.

The invention discloses a vehicle roll control method, device and equipment and a storage medium, relates to the technical field of vehicle roll control, and discloses a vehicle roll control method which comprises the steps that the current vehicle speed and the preset moment are obtained; when it is detected that the vehicle meets the roll control condition, the road curvature is calculated based on the preset moment, and the turning radius is obtained according to the road curvature; according to the roll control condition, the current vehicle speed and the turning radius, a target damping coefficient and / or a target suspension height are / is obtained; and according to the target damping coefficient and / or the target suspension height, the suspension damping and / or the suspension height of the vehicle are / is adjusted, and heeling control over the vehicle is completed. By calculating the road curvature and adjusting the suspension damping / height, vehicle roll control is achieved, and the driving stability is improved.

The invention discloses a high-integration full-active electromechanical suspension actuator which comprises an electric driving mechanism, a motion conversion mechanism and a basic damping mechanism, and the output end of the electric driving mechanism is in transmission connection with the vibration output end of the motion conversion mechanism through a power transmission mechanism in a rotating motion mode. The input end of the basic damping mechanism is in transmission connection with the power transmission mechanism; the motion conversion mechanism achieves mutual conversion between linear motion and rotary motion, the linear motion end of the motion conversion mechanism serves as a vibration input end, the rotary motion end of the motion conversion mechanism serves as a vibration output end, and main power is provided for vibration reduction of vibration of the motion conversion mechanism through the electric driving mechanism. Passive damping force is provided for vibration reduction of vibration of the motion conversion mechanism through the basic damping mechanism. The damping device has the advantages that active and passive damping mechanisms are effectively combined, the excellent damping effect can be achieved under the low-frequency, intermediate-frequency and high-frequency working conditions, and the smoothness and the handling stability of an automobile are improved.

The invention discloses a vehicle steer-by-wire redundancy control method, which belongs to the technical field of automobile steering and comprises the following steps: judging whether a current vehicle starts redundancy control or not, when the redundancy control is started to realize steering of the vehicle, enabling wheels to enter a differential steering mode I, judging whether a vehicle steering angle is consistent with a vehicle expected steering angle or not, and if yes, starting a differential steering mode II; if yes, the wheels are kept in the first differential steering mode, if not, whether the current turning angle of the vehicle changes or not is judged, if not, the wheels enter the second differential steering mode, and if yes, the wheels enter the third differential steering mode; and when the wheels enter the differential steering mode I, the differential steering mode II or the differential steering mode III, outputting the optimal left front wheel driving force and the optimal right front wheel driving force in the corresponding steering mode by utilizing the fuzzy sliding mode controller and the lower-layer controller according to the expected steering angle of the vehicle. When the steer-by-wire system loses efficacy or key components in the steering system break down, the automobile can steer stably.

The invention provides an active suspension control method and system based on rolling driving style recognition, and the method comprises the steps: obtaining brake, accelerator pedal opening, steering wheel angle and vehicle speed information from a CAN bus, so as to construct a working condition information base; pedal opening information and steering wheel angle information are extracted and compared with a preset opening threshold value, and the current driving working condition is recognized; historical vehicle speed information is extracted, rolling cutting based on a time window is carried out on a historical vehicle speed track, and a vehicle speed time sequence is obtained; averaging and standard deviation extraction are carried out on the vehicle speed time sequence to extract statistical characteristics, EMD-DFT is applied to jointly extract time sequence characteristics, and a driving style is identified based on the two characteristics; and the driving working condition and the driving style serve as input to achieve active suspension control. Accurate recognition of the driving style is achieved, meanwhile, rolling recognition based on a time window is introduced, the real-time performance of suspension control is improved, and finally the comfort and operation stability of suspension control are improved in combination with human-vehicle factors.

The invention provides a distributed steer-by-wire vehicle fault-tolerant control method. The method comprises the steps that a distributed steer-by-wire vehicle dynamics model, a two-degree-of-freedom reference model and a steering motor failure model are established; in the design of the upper fault-tolerant controller, a self-adaptive terminal sliding mode control method is adopted, the method has the characteristics of high robustness and self-adaptive parameter change, and the robustness of the system can be considered while the target tracking performance is ensured. In the design of a lower-layer torque and rotation angle optimal distribution reconstruction controller, a failure factor is introduced, two more objective functions are established on the basis of minimizing the tire load rate, and errors between longitudinal and lateral forces and expected target values and errors between yawing moment and additional yawing moment are reduced while the optimized objective functions are ensured to have solutions. According to the method, the uncertainty of the system during the steering failure is fully considered, and the robustness of the system can be considered while the target tracking performance is ensured, so that the control stability of the distributed steer-by-wire vehicle during the steering failure is improved.

The present invention relates to a conjugated diene polymer, a method for producing a conjugated diene polymer, a conjugated diene polymer composition, and a rubber composition. The purpose of the present invention is to provide a conjugated diene polymer which has extremely excellent processability when made into a sulfide, and which has excellent wear resistance, handling stability, and breaking strength after being made into a sulfide. A conjugated diene-based polymer which is a copolymer of a conjugated diene compound and an aromatic vinyl compound, and which has a Mooney viscosity measured at 100 DEG C of 40-170, a Mooney stress relaxation rate measured at 100 DEG C of 0.239-0.35, and a branching degree (Bn) of 8 or more as determined by a GPC-light scattering measurement method with a viscosity detector, and which contains a nitrogen atom.

The invention discloses a slow cooling device and a slow cooling method for surfacing of a ball and a valve seat. The device comprises a base, a cooling treatment assembly arranged on the surface of the base, a heating treatment assembly arranged on one side of the surface of the base and a burr removing assembly arranged on the other side of the surface of the base, the cooling treatment assembly comprises vertical plates fixedly connected to the two sides of the surface of the base, openings are formed in the surfaces of the vertical plates, and transverse blocks are detachably connected to the interiors of the openings; the output end of the motor is connected with the input end of a rotating shaft, one end of the rotating shaft extends out of the transverse block, one end of the rotating shaft is detachably connected with fan blades, the rotating shaft drives the fan blades with one ends connected in a matched mode to rotate, and the ball placed on the surface of the base and valve seat surfacing are rapidly cooled. The cooling block works to reduce the temperature around the whole fan blade, the cooling block is installed in an inner groove formed in the surface of the vertical plate through a wire, and then cooling measures of the ball and valve seat surfacing high-precision device are rich before machining.

The utility model relates to the technical field of tires, and provides a super high performance car tire, comprising: a carcass; a plurality of longitudinal main drainage grooves are arranged on the tread of the carcass; the inner side of the tread of the carcass has an inner tread pattern area, and the outer side has an outer tread pattern area; a plurality of first auxiliary drainage grooves and a plurality of second auxiliary drainage grooves are alternately arranged on the inner tread pattern area; a knife groove is also arranged between adjacent first auxiliary drainage grooves and second auxiliary drainage grooves; a plurality of third auxiliary drainage grooves and a plurality of fourth auxiliary drainage grooves are alternately arranged on the outer tread pattern area. The utility model can improve the dry and wet grip and drainage performance, reduce the risk of hydroplaning, and improve the wet driving safety and driving comfort.

The utility model relates to the field of stabilizer bar, especially transverse stabilizer bar's adjustable connecting structure of four -wheel electric vehicle. The utility model discloses stabilizer bar, axle bush and pull rod, stabilizer bar is trapezoidal, and the both ends are punched into the ear piece, axle bush is covered in the middle part of stabilizer bar, and pull rod is provided with two, and is hinged in the both ends of stabilizer bar respectively, and pull rod is installed on the frame, and axle bush is connected with hydraulic device still, and the top of hydraulic device is fixed with bolt and set up on the frame. Axle bush connects hydraulic device, and is electrically connected with automobile ECU and is equipped with electric control proportional valve, can automatically or manually adjust the lateral stabilizer bar roll stiffness according to the intention of driver or road condition. When driving fiercely or high -speed driving, ECU controls electric control proportional valve to adjust hydraulic device output pressure according to sensor group feedback, and the roll stiffness is increased, and the control stability and high -speed driving safety are enhanced.

The present invention provides a method for coordinated control of path tracking and stability of an electric vehicle, comprising: constructing a nonlinear ideal vehicle dynamics model based on lateral and yaw; establishing a long short-term memory network prediction model of a nonlinear system, and integrating the long short-term memory network prediction model into a model prediction control algorithm, completing the construction of a path tracking controller, and outputting a front wheel turning angle through the path tracking controller; constructing a stability controller; constructing a torque distribution model for multi-objective coordinated optimization, and outputting an additional yaw moment through the torque distribution model; connecting the front wheel turning angle with a BP neural network, training and outputting phase plane contraction and expansion coefficients and dividing the phase plane area, judging the area where the vehicle is located, and outputting the front wheel turning angle and additional yaw moment after coordinated control according to a coordinated control weight coefficient, so as to finally realize the path tracking and coordinated stability control of a four-wheel independent drive electric vehicle.

The invention discloses a vehicle bottom intelligent pneumatic suite structure arrangement optimization method and device, a medium and a product, and relates to the technical field of vehicle aerodynamics and optimizing.The method comprises the steps that a pneumatic suite target height prediction model corresponding to a current working mode is determined as a current pneumatic suite target height prediction model; inputting the vehicle speed, the environment wind speed and the wind direction at the current moment into a current pneumatic suite target height prediction model to obtain a target arrangement state of the pneumatic suite; and a plurality of adjustable device control modules are controlled, so that each pneumatic part in the pneumatic suite reaches the target height. The arrangement state of the vehicle bottom pneumatic suite structure is dynamically adjusted based on the vehicle speed and the wind field environment change during driving, and the operation stability and the fuel economy of the vehicle during high-speed driving are improved.

The invention discloses a model prediction control vehicle obstacle avoidance method based on road and obstacle modeling, and belongs to the technical field of automatic driving and intelligent vehicle trajectory tracking control. Aiming at the problems of insufficient environment modeling, rigid constraint processing, poor limited perception scene adaptability and the like of traditional model prediction control, the invention provides a model prediction control method fusing road and obstacle models. According to the method, constructed structured road boundary and obstacle information is embedded into an optimization target of model prediction control in a continuous differentiable penalty term form, so that soft constraint fusion of a road rule and a safe distance is realized. According to the method, the environmental adaptability and the control reliability in a limited perception structured scene are remarkably enhanced while the driving safety and the track smoothness are improved.

This invention provides a chip inspection device with a defective product collection function, including a collection frame with multiple internal partitions. A rotary motor is fixedly connected to one side of the collection frame, and a positioning gear ring is fixedly connected to the upper side of the rotary motor. A rotary support is fixedly connected to the power output end of the rotary motor. Multiple rotary joints are fixedly connected to one side of the rotary support, and a flip gear is fixedly connected to the movable end of each rotary joint. A micro switch is fixedly connected to one side of the flip gear. The rotary motor drives the rotary support to rotate, and the meshing relationship between the positioning gear ring and the flip gear causes the chip to automatically flip during rotation. When the rotary support rotates 180 degrees, the flip gear can rotate 360 ​​degrees, thereby enabling image inspection of both the front and back sides of the chip at different workstations. This allows for double-sided inspection to be completed in one go, improving inspection efficiency. At the same time, the chip's falling position can help determine the defective surface, facilitating classified collection.

Provided is a bias tire for a two-wheeled vehicle, which can improve the handling stability during cornering. The bias tire for a two-wheeled vehicle (1) includes a carcass (6) of a bias structure. It includes a tread rubber (7) forming a tread portion (2) and a sidewall rubber (8) forming a sidewall portion (3). The tread rubber (7) is connected to the sidewall rubber (8) via an interface (9). The outer end (9a) of the interface (9) in the tire axial direction is closer to the inner side of the tire radial direction than the end of the tread portion (2) in the tire axial direction, i.e., the tread end (Te), and is located on the outer surface of the tire.

The utility model discloses a straight pipe feeding mechanism with rotary upright function belongs to straight pipe conveying device technical field. The mechanism includes the frame with the storage bin, pushes the lift subassembly, conveying mechanism and rotary upright mechanism, and the lift subassembly sets up in the storage bin, is used for pushing the straight pipe from the storage bin to conveying mechanism, and the rotary upright mechanism sets up in the end of conveying mechanism, including rotary cylinder, the material receiving base and the sleeve, and the material receiving base is connected with rotary cylinder output end, and the sleeve sets up on the material receiving base and can be covered into the pipe hole of straight pipe. The mechanism can convert the horizontal posture straight pipe into the upright state in the conveying end, has simplified the subsequent procedure's clamping path, has shortened the processing period, has reduced the workpiece damage risk, has promoted the stability of small bore or long size straight pipe processing, has effectively improved the straight pipe automation processing efficiency.

The utility model discloses a front suspension and car, include: front subframe, including front crossbeam, rear crossbeam, left longitudinal beam and right longitudinal beam, left longitudinal beam and right longitudinal beam all include longitudinal beam upper plate and longitudinal beam lower plate, and longitudinal beam upper plate and longitudinal beam lower plate are formed the first box -like structure with the inner chamber through longitudinal beam flange welding, and the first box -like structure inside is equipped with the reinforcing support, front suspension lower swing arm is installed in the left longitudinal beam and right longitudinal beam of front subframe, and front suspension lower swing arm includes swing arm body, and swing arm body includes swing arm upper plate, intermediate reinforcing plate and swing arm lower plate, and swing arm upper plate and swing arm lower plate are formed the second box -like structure with the inner chamber through lower swing arm flange welding, and intermediate reinforcing plate sets up between swing arm upper plate and swing arm lower plate, and the edge of intermediate reinforcing plate is welded in the second box -like structure, the utility model has improved the strength, rigidity and buckling performance greatly, can guarantee the comfort simultaneously and improve the front wheel transverse positioning precision significantly, thereby improve the control stability and security of whole car.

The invention relates to the technical field of automobile tires, and particularly discloses a spare tire, which is used for solving the problem of insufficient safety of a spare tire in the prior art. Comprising two steel wire rings, the outer sides of the steel wire rings are wrapped with supporting apex, a sidewall is distributed on the outer side of the supporting apex, a polyester tire body layer is arranged between the supporting apex and the sidewall, a lining layer is arranged on the inner side of the supporting apex where the polyester tire body layer is located, two steel wire belt plies are arranged at the upper end of the lining layer, and tread layers are arranged on the outer sides of the steel wire belt plies. The tire further comprises a pattern structure arranged on the tread layer. By optimizing the tread pattern design, the control stability of the tire in the running process is improved, and the braking distance is reduced; by optimizing the contour and structural design of the tire, the tire stress in the driving process is improved, the tire wear is delayed, the effective driving time of the tire is prolonged, and the driving safety is ensured.

The invention relates to the technical field of elastic bushings, in particular to a magneto-rheological elastomer bushing for an automobile suspension and a vehicle suspension system. The magneto-rheological elastomer bushing comprises an inner sleeve and an outer sleeve which are coaxially arranged; the magnetorheological elastomer layer is filled between the inner sleeve and the outer sleeve, and the magnetorheological elastomer layer serves as a main bearing and rigidity adjusting component; the magnet exciting coil is arranged on the inner sleeve or the outer sleeve, and the magnet exciting coil applies a magnetic field to the magnetorheological elastomer layer to adjust the radial rigidity of the magnetorheological elastomer layer; the magneto-rheological elastomer composite material further comprises at least one magnetic conductive reinforcing piece which is arranged in the magneto-rheological elastomer layer in the radial direction, and the magneto-rheological elastomer layer is divided into at least two sub-layers in the radial direction by the magnetic conductive reinforcing piece. The rigidity of the vehicle can be instantly improved to enhance the control stability when high supporting performance is needed, the rigidity can be instantly reduced to optimize the riding comfort when high vibration filtering performance (such as a bumpy road surface) is needed, and dynamic intelligent balance between the two is achieved.

The utility model discloses an aquaculture cleaning device which comprises a water gun body, a water inlet connector, a connecting pipe, a nozzle and an auxiliary scrubbing device. The auxiliary scrubbing device is arranged in the middle of the front end of the water gun body, in the cleaning process, a user can conduct scrubbing operation through the scrubbing brush at the tail end of the connecting frame, the scrubbing brush can be matched with the nozzle to achieve different cleaning functions, and cleaning is more efficient; a sliding seat is controlled to slide along a guide rail, so that a scrubbing brush is controlled to turn over front and back through a connecting rod, and the angle of the scrubbing brush is adjusted, so that the scrubbing brush can better adapt to the operation habit of the scrubbing brush, a holding mechanism is arranged in the middle of a connecting frame, and after the connecting frame is mounted, a holding sleeve is tightly attached to the bottom of a connecting pipe through an arc-shaped groove; and then the binding belt firstly bypasses the top of the connecting pipe and then is buckled and fixed with the buckling seat through the buckling piece, so that the connecting frame and the connecting pipe are bound into a whole, and the overall control stability is improved.

The present invention relates to a driving device for an electric motor type four-wheel drive vehicle, and provides a driving device for an electric motor type four-wheel drive vehicle that can use a transmission shaft to achieve effective driving force transmission of an electric motor. The driving device for an electric motor type four-wheel drive vehicle on one aspect of the present invention comprises: a transmission shaft that transmits power between the front wheel side and the rear wheel side; a first differential mechanism that is arranged on the driving shaft on the front wheel side; a second differential mechanism that is arranged on the driving shaft on the rear wheel side; a first separation mechanism that separates the connection between the first differential mechanism and the transmission shaft; a second separation mechanism that separates the connection between the second differential mechanism and the transmission shaft; a first motor that is connected to one side of the transmission shaft that is closer to the front wheel side than the first separation mechanism and closer to the rear wheel side than the second separation mechanism; and a second motor that is connected between the first separation mechanism and the second separation mechanism.

The invention discloses a teleoperation method, computing equipment and a readable storage medium, and the teleoperation method comprises the steps that a preset mode is entered in response to the fact that a preset triggering condition is met, and the preset triggering condition represents a scene or condition which causes a robot to have an abnormal action risk in the teleoperation process; and performing action speed-limiting control on the robot according to the input control attitude information and a preset teleoperation strategy. According to the technical scheme, when a scene or condition possibly causing abnormal actions of the robot in the teleoperation process is recognized, the specific mode corresponding to the slow action mechanism is started, so that the speed of the actions of the robot mapped by the input control posture information is limited in the specific mode, and the speed of the robot is increased. Therefore, when the control posture of the operator changes greatly or the control posture of the operator is greatly different from the posture of the robot, the actual action speed of the robot can be limited within a reasonable range, and the risk of abnormal action of the robot is avoided or reduced.

This invention relates to a modular steel box girder hoisting system specifically designed for confined spaces. It includes a tractor unit, two hoisting modules, and a transport module. Each hoisting module comprises a first vehicle body and a crane mounted on the first vehicle body. The transport module includes a second vehicle body, which is a flatbed trailer with a support surface on top to support the steel box girder. Linkage joints are provided between the tractor unit and the first vehicle body, between the tractor unit and the second vehicle body, and between the first and second vehicle bodies to enable their linkage. Interconnectable linkage joints are also provided at the front and rear ends of the first and second vehicle bodies. Support devices are provided on the left and right sides of both the first and second vehicle bodies to keep them stationary. Using this design, the invention provides a highly efficient modular steel box girder hoisting system specifically designed for confined spaces.

The utility model provides a kind of electronic differential coaxial three-section electric drive axle.The electronic differential coaxial three-section electric drive axle includes electric drive axle shell and the two groups of drive components symmetrically arranged therein, the drive component includes electric drive axle shell and the two groups of drive components symmetrically arranged therein, the drive component includes sequentially connected input unit, intermediate unit and output unit, the input unit includes multiple motors, converges to the same input shaft, and connects multiple intermediate units, multiple intermediate units converge to the same output unit, the intermediate unit is equipped with gear shifting mechanism and synchronously switches.The electronic differential coaxial three-section electric drive axle provided by the utility model solves the problem that the existing electric drive axle cannot meet the specific working condition use requirements.

This invention belongs to the field of financial data processing technology and provides an intelligent financial invoicing processing method based on RPA. The method includes: using the invoice code and order code as the business primary key, combining the process sequence number (or timestamp) and the fingerprint digest of the previous process, and generating a unique dynamic fingerprint through cryptographic hashing; RPA collects invoice data based on cross-system identifiers, and uses a watermark containing the first / last fingerprint to achieve breakpoint resumption; the fingerprint is recalculated in real time and its consistency is verified. If it passes, a voucher is generated according to the account rules; if it fails, it rolls back to the last fingerprint position of the watermark and re-collects the fingerprint; the voucher is pushed to the financial shared platform, and the fingerprint is synchronously written to the audit log. This invention supports OCR recognition, manual review, Byzantine fault-tolerant consensus, and reinforcement learning adaptive optimization, taking into account automation, anti-tampering, and intelligent evolution, which can significantly improve efficiency and security.

This utility model relates to a suspension positioning parameter fine-tuning compensation mechanism for FSAE racing cars, installed between the wheel and the suspension, comprising: a suspension pillar with an upper bearing surface and a lower bearing surface, both bearing surfaces having bolt holes; the U-shaped bottom surface of the upper U-shaped clamp having matching holes corresponding to the two bolt holes on the upper bearing surface, and being detachably connected to the upper bearing surface by bolts; the U-shaped bottom surface of the lower U-shaped clamp having matching holes corresponding to the two bolt holes on the lower bearing surface, and being detachably connected to the lower bearing surface by bolts; and a positioning parameter fine-tuning wedge, which is a sheet-like structure with a predetermined thickness and / or inclination angle, and is selectively or simultaneously fitted between the upper bearing surface and the upper U-shaped clamp, and between the lower bearing surface and the lower U-shaped clamp. This utility model, by replacing wedges of different thicknesses and / or inclination angles, allows for quick and precise fine-tuning of the wheel track and wheel camber angle without disassembling the suspension assembly, effectively compensating for accumulated manufacturing and assembly errors, and adapting to the high-frequency steering requirements of FSAE racing cars.

The present invention relates to an electromagnetic damping valve device for a shock absorber and an assembly method. The magnetic isolation sleeve is separated and the press-fitting process that originally required is simplified into a plurality of loosely fitted part modules, which can be easily assembled and are convenient for the subsequent automated assembly line. The moving iron that was originally guided by an internal shaft sleeve is changed to an integrated moving iron core, which is then externally guided by an upper magnetic isolation sleeve. The double spring structure that needs to be set in series at both ends of the moving iron core is changed to a single spring to adjust the preload force, thereby reducing the fluctuation range and improving the stability. The original shaft sleeve is replaced by a Teflon film to reduce the friction caused by the tilt of the moving iron core when it is working. Through the various parts of the above modular arrangement, the entire process is installed through the threaded connection of the lower magnetic isolation sleeve, which reduces the processing accuracy requirements, avoids the superposition of tolerances, and avoids the process that originally required a press for tight fitting, thereby achieving convenient assembly, reducing costs, and improving assembly efficiency.

The application discloses a microphone amplifier circuit, which comprises a microphone input interface module, a switching tube amplification circuit and an operational amplifier circuit; the input end of the microphone input interface module is used for being connected with a microphone jack; the output end of the microphone input interface module is connected with the switching tube amplification circuit and the operational amplifier circuit respectively, and is used for conveying input audio signals to the input end of the switching tube amplification circuit and the input end of the operational amplifier circuit respectively; the output end of the switching tube amplification circuit is connected with the input end of the operational amplifier circuit, and is used for amplifying received audio signals in multiple stages and outputting the audio signals to the operational amplifier circuit; and the output end of the operational amplifier circuit is connected with a subsequent power amplifier circuit, and is used for amplifying received audio signals and outputting the audio signals to the subsequent power amplifier circuit. The application further discloses an audio device. The application can guarantee good audio noise processing effect and audio quality effect, thereby improving audio noise processing stability, and has low circuit cost.

The invention discloses a suspension angle module, a chassis structure, a new energy vehicle and a control method.The suspension angle module comprises a lower swing arm mechanism and a steering seat, the front end of the lower swing arm mechanism is connected with the bottom of the steering seat through a ball head structure, and a hub and a tire are installed at the center of the steering seat through bearing parts; the rear end of the lower swing arm mechanism is rotationally connected with the vehicle body through a bearing piece, and the steering base can swing up and down relative to the vehicle body in the mode that the lower swing arm mechanism serves as a swing arm. A front arm is arranged on the steering base in the direction of a vehicle head, the front end of the front arm is connected with the steering base through a ball head structure, a front arm adjusting component is arranged at the rear end of the front arm, the front arm adjusting component can adjust the in-out stroke of the front arm, and the direction angle adjusting operation of the steering base and wheels is achieved.

The invention discloses an automatic welding device for battery tabs and a battery production line. The automatic welding device for the battery tabs comprises a tab feeding module, a welding module and a conveying module. The welding module is positioned at the downstream of the tab feeding module; the conveying module comprises a battery carrying table and a clamping mechanism, the battery carrying table is connected to the tab feeding module and the welding module, the clamping mechanism comprises a clamping driving part and a clamping assembly, in the linkage state, the clamping driving part is in power coupling with the clamping assembly, and the clamping assembly is driven by the clamping driving part to move in the conveying direction; in the separation state, the clamping driving piece and the clamping assembly are independent of each other, and the clamping assembly clamps the tab and the battery to be welded; by controlling state switching of the clamping mechanism, it is guaranteed that only an independent power source exists in the overall moving process of the clamping assembly and the battery carrying table, mutual influence of movement of the clamping assembly and movement of the battery carrying table is effectively avoided, and the clamping stability is improved.